Foundations of AI and ML

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Automated Planning: Other Planning Formalisms

Other Planning Formalisms

Lecture slides are available here.

Planning Formalisms

What statements are true?

ADL action preconditions and goals are any logical formula

SAS+ variables can take one out of multiple values

SAS+ does not allow for binary state variables

Descriptions in PDDL are based on predicate logic

Conditional effects exist in STRIPS but not in ADL

Mars Rover Example

Rovers operating on other planets must be autonomous because signals from Earth to planets deep in our solar system take too long.

We model a rover planning task with the following specification. There are multiple locations on the planet, some of which are connected. The rover can navigate between two locations A and B if A and B are connected.

Read and execute the following problem, where we have two locations A and B, the rover can move from A to B (but not the other way around), the rover starts at A, the goal is to move to B, and we do not need to visit any other locations.

This exercise is based on the Unified Planning framework. When referring to the documentation, please be aware that, for technical reasons, we are using version 0.6 of the library, which differs in certain aspects from the documentation.

Mars Rover Extension

Add three more locations “C”, “D”, and “E” with the connections: A => B, B => C, C => D, D => E, E => A. The goal of the rover is to return to where it came from, which is location A. Also, the goal should be that the rover has visited all locations (extend the list of goal_visited with all locations).

Linköping University
Department of Computer and Information Science

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