STRIPS Action schemata Instead of defi pickup-A and pickup-B and · Define a schema parameters(block ?obl)) precondition(and(clear ?ob1) (on-table ob1) (arm-empty)) effect(and(not(clear obl)) (not(on-table obl)) (not(arm-empty)) olding obl)) Outline Problem formulatio Problem solving as state space search · Mathematical model Graphs and search trees Reasoning algorithms Depth and breadth-first search Bran withams, Spring 03 66 Brian Williams, Spring 03 11 STRIPS Action Schemata (:operator pick-up :parameters ((block ?ob1)) :precondition (and (clear ?ob1) (on-table ?ob1) (arm-empty)) :effect (and (not (clear ?ob1)) (not (on-table ?ob1)) (not (arm-empty)) (holding ?ob1))) • Instead of defining: pickup-A and pickup-B and … • Define a schema: Note: strips doesn’t allow derived effects; you must be complete! } Brian Williams, Spring 03 13 Outline • Problem Formulation – Problem solving as state space search • Mathematical Model – Graphs and search trees • Reasoning Algorithms – Depth and breadth-first search