Scheduling and HTN Planning Chapter 12 CMSC 471

Practical Planning: Scheduling and Hierarchical Task Networks Chapter 12.1-12.2 CMSC 471 Adapted from slides by Tim Finin and Marie desJardins.

Outline ,[object Object],[object Object],[object Object]

Real-world planning domains ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],} a.k.a. scheduling!

Planning vs. scheduling ,[object Object],[object Object],[object Object],[object Object],[object Object]

Hierarchical decomposition ,[object Object],[object Object],[object Object],[object Object]

HTN operator: Example ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

SIPE-2 ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

SIPE-2 Image from: http://www.ai.sri.com/~sipe/architecture.html

Blocksworld in SIPE-2 ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Excerpt taken from http://www.ai.sri.com/~sipe/blocks-sipe.txt Image taken from http://www.ai.sri.com/~sipe/sussman-derivation.html Sussman Anomaly Excerpt from SIPE-2 Blocksworld Definition

HTN operator representation ,[object Object],[object Object],[object Object]

Truth criterion ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Truth criterion in SIPE-2 ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Increasing expressivity ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Reasoning about resources ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Other real-world planning issues ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

SATPlan ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Constraints ,[object Object],[object Object],[object Object],[object Object],[object Object]

Now apply our favorite CSP solver!

Planning summary ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Applications of Planning ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Most applied systems use extended representation languages, nonlinear planning techniques, and domain-specific heuristics

Oil-Spill Response in SIPE-2 Image taken from http://www.ai.sri.com/~sipe/oil.html

Scheduling and HTN Planning Chapter 12 CMSC 471

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Scheduling and HTN Planning Chapter 12 CMSC 471