22
Planning
22.1 STRIPS Planning Systems
22.1.1 Describing States and Goals
An appealing way to attack the frame problem involves blending our state-space and situation-calculus approaches. This blend involves imagining that the predicate-calculus formulas describing a set of world states are themselves a kind of “state”—much as I did in Chapter 7 when I discussed feature-based state spaces. In the blocks world, for example, the world states in which block B is on top of block A on top of block C on the floor (as in Figure 22.1) are described by
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