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Automated Planning
book

Automated Planning

by Malik Ghallab, Dana Nau, Paolo Traverso
May 2004
Intermediate to advanced content levelIntermediate to advanced
635 pages
19h 46m
English
Morgan Kaufmann
Content preview from Automated Planning
240 Chapter 11 Hierarchical Task Network Planning
11.4 Partial-Order STN Planning
In Example 11.6, it was easy to rewrite the planning domain of Example 11.3 (see
page 233) as a total-order STN domain. However, not all planning domains can be
rewritten so easily.
Example 11.8 Consider a DWR problem where we start with the initial state shown
in Figure 11.5, and we want to use r1 to move the two containers to location
loc2. It is easy (see Exercise 11.3) to write totally ordered methods that produce a
decomposition tree like the one in Figure 11.6.
crane1
l1
p11 p12
c1
crane2
l2
p21
p22
r1
c2
Figure 11.5 Initial state for a DWR problem in which two containers
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Publisher Resources

ISBN: 9781558608566