Planning

Date: 03-05-2024

Preconditions and Effects

Note: Type here! Atom is a typo. They don't have to be atoms, they can be literals. Technically atoms are also literals.

Representing Actions

DEMO 2:48 PM

Move From Table (block, to) PRE On(block, table) ^ Clear(to)^Clear(block)

EFF
On(block, to) ^ !Clear(to) ^ !On(block, table)

< MOVE(A,B,C)
< MOVETOTABLE(A,B)
< MOVEFROMTABLE(C,A)

On(A,B)  
On(B, TAble)    
On(C, TAble)     =
Clear(A)    
Clear(C)

That will give you:

On(A,C)  
On(B, Table)  
On(C, Table)   >
Clear(A)  
Clear(B)

On(A, Table)  
On(B, Table)  
Clear(A)       >
Clear(B)  
Clear(C)

On(C, A)  
On(A, B)  
On(B, Table)   >
Clear(C)

Example: Ordering 10 Books

Planning Graph for the Graph Problem

If there is at least one pair of actions that can achieve these two literals without being mutually exclusive, then they don't need to be mutually exclusive.

Every action that can achieve this literal is mutually exclusive from every action that achieve this literal, so the two literals are mutually exclusive.