Operator-based Planning Problem state A consistent conjunction of propositions(positive literals) E.g,(and(cleanhands)(quiet)(dinner)(present)(no Garbage) All unspecified propositions are false initial state Problem state at time i=0 E. g,and(clean Hands)(quiet)) Goal state A partial state E.g.,(and (noGarbage)(dinner)(present)) The planner must put the system in a final state that satisfies conjunction Operator-based Planning Problem (:operator carry precondition effect (:and(no Garbage)(not(clean Hands)) Preconditions: propositions that must be true to apply operator A conjunction of propositions(no negated propositions) Effects: Propositions that operator changes, given preconditions A conjunction of propositions(called adds)and their negation(called deletes)5 Operator-based Planning Problem • State • • E.g., (and (cleanhands) ( • All unspecified propositions are false • Initial State • Problem state at time i = 0 • E.g., (and (cleanHands) (quiet)) • Goal State • A partial state • E.g., (and (noGarbage) (dinner) (present)) • The planner must put the system in a final state that satisfies the conjunction. 6 Operator-based Planning Problem (:operator carry :precondition :effect (:and (noGarbage) (not (cleanHands))) : Preconditions: propositions that must be true to apply operator. • A conjunction of propositions (no negated propositions). Effects: Propositions that operator changes, given preconditions. • A conjunction of propositions (called adds) and their negation (called deletes). A consistent conjunction of propositions (positive literals) quiet) (dinner) (present) (noGarbage))