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Linear Planning

Linear Planning. A plan is linear if it is a sequence of operations for solving the goals in the sequence. A planning problem is linear if there is a goal sequence with a linear plan. A planning problem can often be made linear by inserting well placed goals into the original goal sequence.

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Linear Planning

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  1. Linear Planning A plan is linear if it is a sequence of operations for solving the goals in the sequence. A planning problem is linear if there is a goal sequence with a linear plan. A planning problem can often be made linear by inserting well placed goals into the original goal sequence.

  2. STRIPSStanford Research Institute Problem Solver Richard E. Fikes, Nils J. Nilsson: A New(*) Approach to the Application of Theorem Proving to Problem Solving. (*) IJCAI 2, 1971, Edinburgh Also in Allen(Ed): Readings in Planning Morgan Kaufman, 1989

  3. Sussmans Anomaly A C = = = > B B A C There is no decent linear plan for this problem Goal sequence 1: ?-On(A,B), On(B,C) => move(C,A,Floor),move(A,Floor,B), {On(A,B)} move(A,B,Floor),move(B,Floor,C) {On(B,C)} [,move(A,Floor,B)] • Goal sequence 2 ?- On(B,C), On(A,B) • move(B,Floor,C), {On(B,C)} move(B,C,Fl),move(C,A,Floor),move(A,Floor,B) {On(A,B)} […..]

  4. Sussmans Anomaly(inserted goal) A C = = = > B A B C Made linear by insertion of goal Goal sequence 1: ?-On(C,Fl), On(B,C), On(A,B) => move(C,A,Fl), {On(C,Fl)} move(B,Fl,C), {On(B,C} move(A,Fl,B) {On(A,B)}

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