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Designing the Agent
Idea is to give an agent:
Representation of goal/intention to achieve
Representation of actions it can perform; and
Representation of the environment;
Then have the agent generate a plan to achieve the goal.
The plan is generated entirely by the planning system, without human intervention.
Assume start & goal states as below:
a. STRIPS : A planning system – Has rules with precondition deletion list and addition list
Sequence of actions :
b. Grab C
c. Pickup C
d. Place on table C
e. Grab B
f. Pickup B
g. Stack B on C
h. Grab A
i. Pickup A
j. Stack A on B
Rules:
k. R1 : pickup(x)
- Precondition & Deletion List : hand empty, on(x,table), clear(x)
- Add List : holding(x)
l. R2 : putdown(x)
- Precondition & Deletion List : holding(x)
- Add List : hand empty, on(x,table), clear(x)
m. R3 : stack(x,y)
- Precondition & Deletion List :holding(x), clear(y)
- Add List : on(x,y), clear(x)
n. R4 : unstack(x,y)
- Precondition & Deletion List : on(x,y), clear(x)
- Add List : holding(x), clear(y)
Plan for the assumed blocks world problem
For the given problem, Start $\rightarrow$ Goal can be achieved by the following sequence:
- Unstack(C,A)
- Putdown(C)
- Pickup(B)
- Stack(B,C)
- Pickup(A)
- Stack(A,B)