Outline Operator-based Planning Graph Plan The Graph Plan Planning Problem Graph Construction Solution extraction Properties Termination with Failure Planning as Propositional Satisfiability Visualizing Actions in a Plan Graph Coperator cook precondition(clean Hands) effect(dinner)) dinner cleanHands=cook Coperator carry precondition :effect (:and(no Garbage)(not(clean Hands))) noGarb carryOutline ƒ Operator-based Planning ƒ Graph Plan ƒ The Graph Plan Planning Problem ƒ Graph Construction ƒ Solution Extraction ƒ Properties ƒ Termination with Failure ƒ 16 Visualizing Actions in a Plan Graph (:operator cook :precondition (cleanHands) :effect (dinner)) (:operator carry :effect (:and (noGarbage) (not (cleanHands))) carry noGarb cleanH cook dinner cleanHands Planning as Propositional Satisfiability :precondition