Questions
DD2380 HT24 (AIHT24_2) Q9：规划
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考虑 PDDL 中的以下规划问题 Init(At(P1,A),At(P2,B),At(P3,C),At(P4,D),At(P5,E),Pipe(P1,P3),Pipe(P3,P5),Pipe(P5,P2),Pipe(P2,P4),Pipe(P4,P1)) Goal(At(P1,D),At(P2,C),At(P3,A),At(P4,E),At(P5,B)) Action(Jump(x,from,to) PRECOND:At(from,x)∧Pipe(from,to) EFFECT:¬At(from,x)∧At(to,x)) At(P5,A)该文字第一次出现 在规划图的哪一层？
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Step-by-Step Analysis
问题在于判断在规划图中，谓词 At(P5,A) 首次出现位于哪一层。
- 首先回顾规划图的组成：初始层 S0 包含初始状态的所有事实，如 Init(...) 中列出的 At(Pi,地点) 等；接着在每一层会交替出现操作层（Actions）和效果层（States），新产生的事实会出现在后续的状态层中。
- 给定初始事实包括 At(P5,E)，以及一组管道 Pipe(...)，以及 Jump 式的动作及其前提与效应：Precond: At(from,x) ∧ Pipe(from,to)，Effect: ¬At(f......Login to view full explanationLog in for full answers
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Similar Questions
Consider the following planning problem in PDDL Init(At(P1,A),At(P2,B),At(P3,C),At(P4,D),At(P5,E),Pipe(P1,P3),Pipe(P3,P5),Pipe(P5,P2),Pipe(P2,P4),Pipe(P4,P1)) Goal(At(P1,D),At(P2,C),At(P3,A),At(P4,E),At(P5,B)) Action(Jump(x,from,to) PRECOND:At(from,x)∧Pipe(from,to) EFFECT:¬At(from,x)∧At(to,x)) At which level of the planning graph does the literal At(P5,A) appear for the first time?
Consider the following planning problem in PDDL Init(At(P1,A),At(P2,B),At(P3,C),At(P4,D),At(P5,E),Pipe(P1,P3),Pipe(P3,P5),Pipe(P5,P2),Pipe(P2,P4),Pipe(P4,P1)) Goal(At(P1,D),At(P2,C),At(P3,A),At(P4,E),At(P5,B)) Action(Jump(x,from,to) PRECOND:At(from,x)∧Pipe(from,to) EFFECT:¬At(from,x)∧At(to,x)) At which level of the planning graph does the literal At(P5,A) appear for the first time?
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