Description

E07 FF Planner

17341015 Hongzheng Chen
Contents
1 Examples 2
1.1 Spare Tire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Briefcase World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Tasks 3
2.1 8-puzzle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2 Blocks World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3 Codes and Results 5
3.1 8-Puzzle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.2 Block Worlds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1 Examples
1.1 Spare Tire
domain spare tire.pddl
(define (domain spare_tire)
(:requirements :strips :equality:typing)
(:types physob location)
(:predicates (Tire ?x – physob)
(at ?x – physob ?y – location))
(:action Remove
:parameters (?x – physob ?y – location)
:precondition (At ?x ?y)
:effect (and (not (At ?x ?y)) (At ?x Ground)))
(:action PutOn
:parameters (?x – physob)
:precondition (and (Tire ?x) (At ?x Ground)
(not (At Flat Axle)))
:effect (and (not (At ?x Ground)) (At ?x Axle))) (:action LeaveOvernight
:effect (and (not (At Spare Ground)) (not (At Spare Axle))
(not (At Spare Trunk)) (not (At Flat Ground))
(not (At Flat Axle)) (not (At Flat Trunk)) )) )
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spare tire.pddl
(define (problem prob)
(:domain spare_tire)
(:objects Flat Spare -physob Axle Trunk Ground – location)
(:init (Tire Flat)(Tire Spare)(At Flat Axle)(At Spare Trunk))
(:goal (At Spare Axle))
)
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1.2 Briefcase World
Please refer to pddl.pdf at page 2. Please pay More attention to the usages of forall and when.
For more examples, please refer to ff-domains.tgz and benchmarksV1.1.zip. For more usages of FF planner, please refer to the documentation pddl.pdf.
2 Tasks
2.1 8-puzzle
Please complete domain puzzle.pddl and puzzle.pddl to solve the 8-puzzle problem.
domain puzzle.pddl
(define (domain puzzle)
(:requirements :strips :equality:typing)
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(:types num loc)
(:predicates ())
(:action slide
:parameters ()
:precondition ()
:effect ()
)
)
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domain puzzle.pddl
(define (problem prob)
(:domain puzzle)
(:objects )
(:init )
(:goal ())
)
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2.2 Blocks World

domain blocks.pddl
(define (domain blocks)
(:requirements :strips :typing:equality
:universal-preconditions
:conditional-effects)
(:types physob) (:predicates
(ontable ?x – physob)
(clear ?x – physob)
(on ?x ?y – physob))
(:action move
:parameters (?x ?y – physob)
:precondition ()
:effect ()
)
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(:action moveToTable
:parameters (?x – physob)
:precondition ()
:effect ( )
)
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blocks.pddl
(define (problem prob)
(:domain blocks)
(:objects A B C D E F – physob)
(:init (clear A)(on A B)(on B C)(ontable C) (ontable D)
(ontable F)(on E D)(clear E)(clear F)
)
(:goal (and (clear F) (on F A) (on A C) (ontable C)(clear E) (on E B)
(on B D) (ontable D)) )
)
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Please submit a file named E07 YourNumber.pdf, and send it to ai 201901@foxmail.com
3 Codes and Results
3.1 8-Puzzle
The code below is domain_puzzle.pddl, which leverages four slide action to describe the movements.
(define (domain puzzle)
(:requirements :strips :typing)
(:types num loc) (:predicates
(at-pos ?n ?x ?y)
(inc ?p ?p1)
(dec ?p ?p1))
(:action slide-up
:parameters (?n ?x ?y ?x1)
:precondition (and (at-pos ?n ?x ?y) (at-pos n0 ?x1 ?y) (dec ?x ?x1)) :effect (and (not (at-pos ?n ?x ?y)) (not (at-pos n0 ?x1 ?y))
(at-pos ?n ?x1 ?y) (at-pos n0 ?x ?y))
)
(:action slide-down
:parameters (?n ?x ?y ?x1)
:precondition (and (at-pos ?n ?x ?y) (at-pos n0 ?x1 ?y) (inc ?x ?x1)) :effect (and (not (at-pos ?n ?x ?y)) (not (at-pos n0 ?x1 ?y))
(at-pos ?n ?x1 ?y) (at-pos n0 ?x ?y))
)
(:action slide-left
:parameters (?n ?x ?y ?y1)
:precondition (and (at-pos ?n ?x ?y) (at-pos n0 ?x ?y1) (dec ?y ?y1)) :effect (and (not (at-pos ?n ?x ?y)) (not (at-pos n0 ?x ?y1))
(at-pos ?n ?x ?y1) (at-pos n0 ?x ?y))
)
(:action slide-right
:parameters (?n ?x ?y ?y1)
:precondition (and (at-pos ?n ?x ?y) (at-pos n0 ?x ?y1) (inc ?y ?y1)) :effect (and (not (at-pos ?n ?x ?y)) (not (at-pos n0 ?x ?y1))
(at-pos ?n ?x ?y1) (at-pos n0 ?x ?y))
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)
)
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Below is puzzle.pddl.
(define (problem prob)
(:domain puzzle)
(:objects n0 n1 n2 n3 n4 n5 n6 n7 n8 p1 p2 p3)
(:init
(inc p1 p2)
(inc p2 p3)
(dec p3 p2)
(dec p2 p1)
(at-pos n1 p1 p1)
(at-pos n2 p1 p2)
(at-pos n3 p1 p3)
(at-pos n7 p2 p1)
(at-pos n8 p2 p2)
(at-pos n0 p2 p3)
(at-pos n6 p3 p1)
(at-pos n4 p3 p2)
(at-pos n5 p3 p3)
)
(:goal (and
(at-pos n1 p1 p1)
(at-pos n2 p1 p2)
(at-pos n3 p1 p3)
(at-pos n4 p2 p1)
(at-pos n5 p2 p2)
(at-pos n6 p2 p3)
(at-pos n7 p3 p1)
(at-pos n8 p3 p2)
(at-pos n0 p3 p3)
))
)
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The running result is shown below. For all the actions, please refer to the attached result1.txt.

3.2 Block Worlds
Below is domain_blocks, which leverages forall and when grammas to specify the blocks below which to be moved.
(define (domain blocks)
(:requirements :strips :typing:equality
:universal-preconditions
:conditional-effects)
(:types physob) (:predicates
(ontable ?x – physob)
(clear ?x – physob)
(on ?x ?y – physob)
)
(:action move
:parameters (?x ?y – physob)
:precondition (and (clear ?x) (clear ?y) (not (= ?x ?y))) :effect (and (on ?x ?y) (clear ?x) (not (clear ?y))
(forall (?z – physob) (when (on ?x ?z) (and (not (on ?x ?z)) (clear ?z))))
(when (ontable ?x) (not (ontable ?x))))
)
(:action moveToTable
:parameters (?x – physob)
:precondition (and (clear ?x) (not (ontable ?x))) :effect (and (ontable ?x)
(forall (?z – physob) (when (on ?x ?z) (and (not (on ?x ?z)) (clear ?z)))))
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))
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Below shows blocks.pddl.
(define (problem prob)
(:domain blocks)
(:objects A B C D E F – physob)
(:init
(clear A)
(on A B)
(on B C)
(ontable C)
(ontable D)
(ontable F)
(on E D)
(clear E)
(clear F)
)
(:goal
(and (clear F) (on F A) (on A C) (ontable C) (clear E) (on E B)
(on B D) (ontable D))
)
)
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The result is shown below.