Encoding Initial State init (cargo-at c1 sfo)(cargo-at c2 jfk) (plane-at p1 sfo)(plane-at p2 jfk) Encoding the g; added (could be derived) Goal state not(cargo-at c1 jfk )(not( cargo-at c2 sfol)) (not (plane-at pl jfk))(not (plane-at p2 sfo) Same thing (and (1 cargo-at cl sfo)(1 cargo-at c2 jfk) (not (1 cargo-at cl jfk)).) Remember: We're dealing with Propositional logic WFF∷A|(notA)( and wfe…)l(orWF What are our literals(A)? lists: (t predicate-name literal ..(t action-name literal 16.410/13, Programming SATPlan, Greg SullivanEncoding Initial State (init (cargo-at c1 sfo) (cargo-at c2 jfk) (plane-at p1 sfo) (plane-at p2 jfk) ;; added (could be derived) (not (cargo-at c1 jfk)) (not (cargo-at c2 sfo)) (not (plane-at p1 jfk)) (not (plane-at p2 sfo))) Encoding the Goal State Same thing (and (1 cargo-at c1 sfo) (1 cargo-at c2 jfk) … (not (1 cargo-at c1 jfk)) … ) • Remember: We’re dealing with Propositional logic: • WFF ::= A | (not A) (and WFF …) | (or WFF …) • What are our literals (A)? • lists: (t predicate-name literal …) (t action-name literal …) Oct. 22, 2003 16.410/13, Programming SATPlan, Greg Sullivan 5