PAY “Puan, Prcltem. Ne (ener alio Knoum a Global solution The Blocks Weald * || Block world problem cu ac block Gexld or Goal atuck eee of the mast would —Consiat ie ea mo __ fist durpoce Auch oa tnble lop = det del heqqiale, blocks can be | @ The P@A sobsk am that he ced onc upon endhea——_| can mantputote the blocks ©The sobot can hold ome block at a time & only T block can be moved at o time. | © Ary vo of wleckA can be on toble. ahi The actions ‘con perfoam tuclude ONSTACK (A,B): @® Pickvecay: ¥ Pickup block & Grom abl aFRemore block A ker block B BThe awn must oe _empby ae The, axm must be empty ~ sp Block A must hare no blocks Zathue muk be noting om top of A “a on bop of tb. STACK (A,B): ) @ PoTooun(A): al * RE block Aion block B ¥ Pak block A on the fable The cam must areas The cam mut hove holding A teen holding Bleck A- 4% The surface of B mut be x cleanPreottcates > Ontatecay ‘BeASeaD Ame can be wed ontn, eB) " Bloc Clear(A) nothing, sland on A Alamempby aco hand % empby Holding Cr) vobot hand holds a degieot notritions can be used + © Laz: norvzwe GI] —STARMEM PTY 4b i 1 ; ob T te wm Ls holding anything ter ok men - © ve: ontaBic 2) > By : ON ay) To Blok Ge on the boble , tun uk ds nok alo on anchs block @ Vr: Lay 4 on Gy > CLERRLO Finy block Udith no blacks on ik cleo. a a Componescts of Plannixe Aagdecern ‘ (© Chooe. based om @® Prey Be chesen problem Ate, faith dinectfors voten ar alewosl cod schution hos 1 fpeen fpund and — emptey Apecrol techn gues to moe wt totally coaseck .PAGE NOvsssssssse EXP. No. TnikContabte (AD Acntnble (2) AOnCc, A) —_____——~ GcalCon(A,e) Aon(e, ©) SS [Acti _(@) More tolark Con _tnbte Holding () a SSeS) | errant 4p Cleos CA) D)Move block B on block C & Onboble (8) H Kolding CB) * On(BiO, a& Alam empby © Move block fr on bblod & & ontoble CA) ® Hotaling A) ¥ On(A®) PO} x]> 4B AremenphyyStxips ‘ ne ri ; eee tos Stan psd Racoash: uses pela i Se a ploming apple “deuctoped vin dhe lake 19604 24 Rehord Fikes & Nils Nila ot Stonforcl Research strubtbute. Th ‘ 5 & STRIPS Ayslen cpteates by sepaueiing He tsorel 47 teams of Atter, actions and goals, JR simplifres athe planning proces by axsuming thot the Worle is pully estes & olebermantstic , meantng be effects of actions ose padittable. Zach test epuator has 3 tisk of _guecteoesbes Cpu of mew predicates that “becomes “Type colle 900. x List of ald a a feces BENS. J Uist omnins Hes preckicaes Book — euurk be base for A tre opsatos te be applied called 04 PRECONDETEON . | oe Anything met fh Yue Lats’ ouumed to be | by the opaation « STREPS sbyle opesstors trot conmupondence fo Hee Iohock val operations one ¢ B ae a” ( > cueAR Y) A HOLDEN 4 OD, (prc@ndetion) D+ CLEAR (4) A HOLDEN, OH) Coelebe) A: Armemeky onceyy) Codd DNSTA CK Guy) PO. on Guy D a ONY A. HOLOLNG ) ACLEARG AARMEMPTY (pre condition) > A ARMEMPTY Chelete) GO ACLEARC) (add)f DickueG) z = Pz CLEAR G) AON TABLEGO OD ARMemeTy (px cand) Ds_onTAere G) AARMEMeTY (clelebe 1 Horomy.6(9) Gil) [PUTPOWN Com ae sd HOLDING | (Gore. cons Di HoOLOrNG Go) Coase ——fii_ontaBie OA ARMEMPTY (odd) re 4 [a] ine bi 6B 8 eo] teen arfel Het tree . On(A, Table) On(A, Tate) On(A,6) OnlA,®) On (8, Table) on(®, C) Onl ,C) Om(b.O E on (6 Table), On(C, Table) On(C, Table) ‘cleo (8) Cleax (A) Clea (AY Cleos (BY Clea (8) Cleos (Table) clear (cy Cleos (flake) a ells took, = =) aSGoAL Strack PLANNING 4 TLANNEN & Tnitial Astute _Anitiel Abate. : ony (0,1 A.ONTALE COD % ontacre (A? A CLEAR) \ AEARCO “ crear (p) * ARMEW— Goal sbrte +4 oncesA) A ON’, DIA onTABLECA) AONTABLE = oO A CLEARCE) 0 CLEARLS) AARMEMPCY The only goals tp Ache om once, Ay 2 one), \ | Reh the oxiginal compound cal Goal Aknck* along sith See oe “Ex a) Ane’ Stack q on (8:8 _5ow Cop r2ONGP @ To ache ow Cond jee con apply adion Ande Co, action, So veploe srAals Cent? i ee ON(BiD) once, ADA NCD) @=a1AcK Gia> con be applied wb on Cased 4 On(B, DD ARMEMPT Me following gals 0% alkeady ue in te gnitiol aboke + ONTARLERRDA onTABLECD) A GEAR 4 cLERRIE)® prmemery prtmdition at true .So ocd 1b cuenr ca? ition on tre Abock HOLDING CO SCLEAR CAD AHOLOENG c). STACK\CGAD) on (8, D> norperel)(oar PAGE No. EXP, No, ~~ =e) @)The_top of te étndk_cmtnin a _—| ss CLEAR (AD told see not_biu ; [IS te ate dsc "hn, || ploe_ciearia) by unstaccaay clea (2) |_| |S. torch _preemaittions of Linstnee Ameer or We aetion 2 ONG, A) ACEARLE) AAR ee Es —FonstrAackcs, 6) Lo L SHOLDnn > CLEAR CA) A HOLDING sores STACK Co, A) | ONG, DD ONC) A) ACNGD |@)ON EIA), CLEAR CS) A ARMEMPTY ow all Bue, Ce 40 [pop that along with ta ONSTAELSAD Compound goal = HOLOENG () CLEAR CAD AMOLDENEIC} STACK GA) 5 cal ONCE ,D) | jal [el fe ONGA)AONTES) | I@ Add || UNSTAG (GA) bo the queue oF o HOLDEN GC) Sequence. of actions CLEAR CAD AHOLDING ()) Gvevrg = ONSTACK (6,4) STACKCGA) SNqlo Goal Arce Combats —5> oON®,D) ONGAD AONIB, DY panes wu bop fF We EK contains 5 (GSS tome) | E HOLDING GC), abech i nok hue. | El 2 ae HoED ee @)To mibke Be stoke Bue ue the Sten HADEN |__opexatipa STACK(B,0), S pwuh srac(epy See alonck with th, piceendition onto Ane eR OnCSd ONG, ADAON (ED)| The 18] Se) a 81) 1p) @AS alk tre prconditions ace be. exeale, STACK (6:0) & add at to” Ure queue of dcey of actions GUCvE = UNSTACK(B,AY, STACK(A:D) DP Now, te Goal Stack a os fol\rret HoLDrNG CO STACK Co. A) ON 10) ONCE AD AONB) [Ss alfa Je of kx Akack Holding(cy ts not (isco: grecorsictioms &p tre to make tre Abode doruc. oct PICKUP & wath te onto fre STAG ig) (aula leo ae Hee ,ctl fu Precndition of PICKLE opener are mc, so add Pick vece> bo Bue apne of deey ef action: QoEve = VNSTACKCB AY, stack (2,0) 5 PECRLP CO Now , Goat stack contolu —? ee \ ats) 5 Here al tre cond@ttom of STACK COM) i me, 40 add 2rack Cc, A) bo gene eee onstack (6:9) STACK 1D), Pic or @, STACK CO a boken eo QvE ve = to seo vos A ok “poke. £2 goat stole guitiod cuenk (AD AVADINGC) [A Erle ) Chen ; Ehaartpy averding®) SppekteP) Hotorv © ) E1EAR CA) AMDLDANAE STACKCC) AD ow ON SO once) onrasre(an aciene © ARgneEMmeTy -APick PCS HoLoLna© HeLa) A HOLDENECY STACK AD ONCR, 9D. ON CeIAD OW 9) HOLDING om crea cA) papwalty STAKES, ) ON (B10 ONCeAD AONB) Grom. © rem)