Operator-based Planning Problem Input Set of world states What assumptions are Action operators Fn: world-state>world-state Atomic time nitial state of world Goal Agent is omniscient partial state (no sensing necessary). (set of world states) Agent is sole cause of Output change Sequence of actions Actions have Complete: Achieve goals Consistent: No negative deterministic effects side-effe No indirect effects north north12 → STRIPS Assumptions Outline Operator-based Planning Graph Plan The Graph Plan Solutions Graph Construction Solution extraction Properties Termination with Failure Planning as Propositional Satisfiability11 Operator-based Planning Problem ƒ Input ƒ Set of world states ƒ Action operators ƒ oworld-state ƒ Initial state of world ƒ Goal ƒ partial state l ) ƒ Output ƒ Sequence of actions ƒ Complete: Achieve goals ƒ side-effects What assumptions are implied? • Atomic time. • Agent is omniscient (no sensing necessary). • Agent is sole cause of change. • Actions have deterministic effects. • No indirect effects. @ STRIPS Assumptions a a a north11 north12 W0 W1 W2 Outline ƒ Operator-based Planning ƒ Graph Plan ƒ The Graph Plan Solutions ƒ Graph Construction ƒ Solution Extraction ƒ Properties ƒ Termination with Failure ƒ Fn: world-state Consistent: No negative Planning as Propositional Satisfiability (set of wor d states