Planning execution information gathering
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Planning, Execution, & Information Gathering. José Luis Ambite* [* based on slides from Russell & Norvig, AIMA1]. Planning & Execution. Initial State:. Goal: On(C, D) On(D, B). Move(x y) pre: clear(x) ^ clear(y) ^ on(x z) eff: on(x y) ^ clear(z) ^ on(x z) ^ clear(y).

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Planning, Execution, & Information Gathering

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Planning execution information gathering

Planning, Execution, & Information Gathering

José Luis Ambite*

[* based on slides from Russell & Norvig, AIMA1]


Planning execution

Planning & Execution

Initial State:

Goal:

On(C, D)

On(D, B)

Move(x y)

pre: clear(x) ^ clear(y) ^ on(x z)

eff: on(x y) ^ clear(z) ^

on(x z) ^ clear(y)


Planning execution information gathering

New state of the world:

Updated plan:

Plan ready to start execution

but genie intervenes: moves D to B !


Planning execution information gathering

  • But it actually was a helpful interference:

  • Can link to on(D B) from current state

  • Move(D B) is now redundant


Planning execution information gathering

The new current state looks like:

And the updated plan is:

Now the agent can execute move(C D) to achieve the goal

Unfortunately our agent is clumsy and

drops C onto A instead of D


Planning execution information gathering

Resulting plan:

Keep planning to satisfy open condition on(C D)


Planning execution information gathering

Fortunately, this time execution works:

  • The plan is finally completed:

  • Goals achieved

  • No threats

  • No unexecuted step “flaws”


Conditional planning

Conditional Planning


Planning and information gathering

Planning and information gathering

  • UWL representation language

  • SENSP algorithm

  • Discussion of: Oren Etzioni, Steve Hanks, Daniel Weld, Denise Draper, Neal Lesh, Mike Williamson (1992) "An Approach to Planning with Incomplete Information". Proceedings of the 3rd International Conference on Principles of Knowledge Representation and Reasoning


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