In some real world applications like robotics, manufacturing, the same planning operator with single or multiple effects is instantiated to several objects. This is quite different from performing the same action (or plan) several times. In this paper we give an approach to construct an iterated form of these operators (actions). We call such actions iterated actions that are performed on sets of objects. In order to give a compact and formal specification of such actions, we define a new type of predicate called set predicate. We show that iterated actions on sets behave like classical planning actions. Thus any classical planner can be used to synthesize plans containing iterated actions. We formally prove the correctness of this approach. An implementable description of iterated actions is given in PDDL for an example domain. The implementations were carried out using the state-of-the-art BlackBox planner.
Planning with sets
MILANI, Alfredo
2015-01-01
Abstract
In some real world applications like robotics, manufacturing, the same planning operator with single or multiple effects is instantiated to several objects. This is quite different from performing the same action (or plan) several times. In this paper we give an approach to construct an iterated form of these operators (actions). We call such actions iterated actions that are performed on sets of objects. In order to give a compact and formal specification of such actions, we define a new type of predicate called set predicate. We show that iterated actions on sets behave like classical planning actions. Thus any classical planner can be used to synthesize plans containing iterated actions. We formally prove the correctness of this approach. An implementable description of iterated actions is given in PDDL for an example domain. The implementations were carried out using the state-of-the-art BlackBox planner.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
