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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
128 Chapter 6 Planning-Graph Techniques
GP-Search(G, g , π
i
, i)
if g =∅then do
Extract(G,
{precond(a) |∀a π
i
}, i 1)
if = failure then return(failure)
return(. π
i
)
else do
select any p g
resolvers ←{a A
i
| p effects
+
(a) and b π
i
: (a, b)/ µA
i
}
if resolvers =∅then return(failure)
nondeterministically choose a resolvers
return(GP-Search(G, g effects
+
(a), π
i
∪{a}, i))
end
Figure 6.8 Search for actions π
i
A
i
that achieve goal g.
The GP-Search procedure selects each goal proposition p at a time, in some
heuristic order. Among the resolvers of p, i.e., actions that achieve p and that are not
mutex with actions already selected for that level, ...
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Publisher Resources

ISBN: 9781558608566