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• Deskripsi
• Introduction
Planning • Hierarchical Planning
• Sensorless Planning
• Conditional Planning
Pertemuan : 11 • Execution Monitoring and Replanning
Dosen Pembina : • Continous Planner
Sriyani Violina • State of the world (STRIPS language)
Danang Junaedi • The Block World
– Goal stack Planning (GSP)
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Deskripsi Introduction
• Pertemuan ini mempelajari bagaimana • We studied how to take actions in the world
memecahkan suatu masalah dengan teknik (search)
planning. • We studied how to represent objects, relations,
• Metode planning yang dibahas pada etc. (logic)
pertemuan ini adalah Goal Stack Planning
(GSP) • Now we will combine the two!
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Conditional Planning in
Fully Observable Domains
Notation Expantion:
• Vacuum World: • Expanding Plan Notation:
– Left: AtRight AtLeft ∧ ¬AtRight – If (state) Then (…) else (…)
– Left: AtRight
(AtLeft ∧ ¬AtRight)∨ (¬AtLeft ∧ AtRight) – If (AtLeft∧CleanLeft ∧CleanRight) Then {}
– Suck: when AtLeftCleanLeft else Suck.
when AtRightCleanRight
– Left: when AtLeft ¬CleanLeft
when AtRightAtLeft ¬AtRight
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• New Notation:
– Instead of just Left : while (AtRight) Left
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Stack Database
B C B
A C D A D Goals Current situation
start: ON(B, A) ∧ goal: ON(C, A) ∧
ONTABLE(A) ∧
ONTABLE(C) ∧
ON(B, D) ∧
ONTABLE(A) ∧
Operators to
satisfy
+ Specification of
the Goals Operators/Actions
ONTABLE(D) ∧ ONTABLE(D) ∧
ARMEMPTY
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Plan Plan
1. UNSTACK(C, A) 1. UNSTACK(C, A)
2. PUTDOWN(C) 2. PUTDOWN(C)
3. PICKUP(A) 3. PICKUP(A)
4. STACK(A, B) 4. STACK(A, B)
5. UNSTACK(A, B) 5. UNSTACK(A, B)
6. PUTDOWN(A) 6. PUTDOWN(A)
7. PICKUP(B) 7. PICKUP(B)
8. STACK(B, C) 8. STACK(B, C)
9. PICKUP(A) 9. PICKUP(A)
10. STACK(A, B) 10. STACK(A, B)
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