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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

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)

slide13

New state of the world:

Updated plan:

Plan ready to start execution

but genie intervenes: moves D to B !

slide14

But it actually was a helpful interference:

  • Can link to on(D B) from current state
  • Move(D B) is now redundant
slide15

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

slide16

Resulting plan:

Keep planning to satisfy open condition on(C D)

slide17

Fortunately, this time execution works:

  • The plan is finally completed:
  • Goals achieved
  • No threats
  • No unexecuted step “flaws”
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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