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KBAI 笔记 13 Planning

2019-01-01
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Block Problem Revisited

前情提要:之前用来解决这个问题的方法是?

Painting a Ceiling

Paint ceiling problem

  • the problem that the robot is facing is to paint the ceiling and the ladder.
  • human will quickly figure out s/he should paint the ceiling witht he help of the ladder and then paint the ladder.

Represent the Painting a ceiling problem.

Representation of the goal state

States

States

  • initial state
  • intermediate state. Note, there is no description of the ladder, so there should be no ladder mentioned in the logic.

Operators

Operators

  • the operator will be carried out if and only if the precondition exists.

Exercise

  • the not Dry state is interesting .

Planning and state spaces:

Planning

  • in each state, different operators can generate many possible states and the state space could explode very quickly.
  • How to do operator selection?
  • how to figure out the route (with the guidance of the goal state)
  • control knowledge from the goal state.
  • Since operator selection can be affected by goal setting, and the operator selection actually control the state selection.
  • Operator selection is very much like action selection

  • a plan is like states with operators.
原文地址 https://conge.livingwithfcs.org/2019/01/01/KBAI-bi-ji-13-Planning/
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