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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
6.2 Planning Graphs 119
Mr12
Mq21
Lar1
Lbq2
Mr12
Mr21
Mq12
Mq21
Lar1
Lbr2
Laq1
Lbq2
Uar1
Ubq2
Mr12
Mr21
Mq12
Mq21
Lar1
Lbr2
Laq1
Lbq2
Uar1
Uar2
Uaq1
Ubq1
Ubq2
Ubr2
r
1
q
2
a
1
b
2
u
r
u
q
r
1
r
2
q
1
q
2
a
1
a
r
b
2
b
q
u
r
u
q
r
1
r
2
q
1
q
2
a
1
a
r
a
q
b
2
b
r
b
q
u
r
u
q
r
1
r
2
q
1
q
2
a
1
a
2
a
r
a
q
b
1
b
2
b
r
b
q
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r
u
q
P
0
A
1
P
1
A
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P
2
A
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P
3
Figure 6.4 Planning graph.
6.2.3 Independent Actions and Layered Plans
In Example 6.1 (see page 114), the two actions Mr12 (i.e., move(robr, loc1, loc2))
and Mq21 in A
1
are independent : they can appear at the beginning of a plan in any
order, and the two sequences Mr12, Mq21 and Mq21, Mr12 when applied to
s
0
lead to the same state; similarly for the pair Mr12 and Lbq2. But the two actions
Mr12 and Lar1 are not independent: ...
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Publisher Resources

ISBN: 9781558608566