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)

1. Precondition & Deletion List : hand empty, on(x,table), clear(x)
2. Add List : holding(x)

l. R2 : putdown(x)

1. Precondition & Deletion List : holding(x)
2. Add List : hand empty, on(x,table), clear(x)

m. R3 : stack(x,y)

1. Precondition & Deletion List :holding(x), clear(y)
2. Add List : on(x,y), clear(x)

n. R4 : unstack(x,y)

1. Precondition & Deletion List : on(x,y), clear(x)
2. 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:

1. Unstack(C,A)
2. Putdown(C)
3. Pickup(B)
4. Stack(B,C)
5. Pickup(A)
6. Stack(A,B)