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CS344 : Introduction to Artificial Intelligence

CS344 : Introduction to Artificial Intelligence. Pushpak Bhattacharyya CSE Dept., IIT Bombay Lecture 18- Robotic Planning; same as lecture 17; mainly discussed the search issues. Example : Blocks World. STRIPS : A planning system – Has rules with precondition deletion list and addition list .

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CS344 : Introduction to Artificial Intelligence

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  1. CS344 : Introduction to Artificial Intelligence Pushpak BhattacharyyaCSE Dept., IIT Bombay Lecture 18- Robotic Planning; same as lecture 17; mainly discussed the search issues

  2. Example : Blocks World • STRIPS : A planning system – Has rules with precondition deletion list and addition list Robot hand Robot hand A C B A B C START GOAL Sequence of actions : Grab C Pickup C Place on table C Grab B Pickup B 6. Stack B on C • Grab A • Pickup A • Stack A on B

  3. Rules (seach operators) • R1 : pickup(x) Precondition & Deletion List : handempty, on(x,table), clear(x) Add List : holding(x) • R2 : putdown(x) • Precondition & Deletion List : holding(x) • Add List : handempty, on(x,table), clear(x)

  4. Rules (search ops) • R3 : stack(x,y) Precondition & Deletion List :holding(x), clear(y) Add List : on(x,y), clear(x), handempty • R4 : unstack(x,y) • Precondition & Deletion List : on(x,y), clear(x),handempty • Add List : holding(x), clear(y)

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