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Planning, Execution, & Information Gathering

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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  1. Planning, Execution, & Information Gathering José Luis Ambite* [* based on slides from Russell & Norvig, AIMA1]

  2. 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)

  3. New state of the world: Updated plan: Plan ready to start execution but genie intervenes: moves D to B !

  4. But it actually was a helpful interference: • Can link to on(D B) from current state • Move(D B) is now redundant

  5. 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

  6. Resulting plan: Keep planning to satisfy open condition on(C D)

  7. Fortunately, this time execution works: • The plan is finally completed: • Goals achieved • No threats • No unexecuted step “flaws”

  8. Conditional Planning

  9. 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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