Abstract
In some real world applications like robotics, manufacturing, the same planning operator with single or multiple effects is instantiated to several objects. This is quite different from performing the same action (or plan) several times. In this paper we give an approach to construct an iterated form of these operators (actions). We call such actions iterated actions that are performed on sets of objects. In order to give a compact and formal specification of such actions, we define a new type of predicate called set predicate. We show that iterated actions on sets behave like classical planning actions. Thus any classical planner can be used to synthesize plans containing iterated actions. We formally prove the correctness of this approach. An implementable description of iterated actions is given in PDDL for an example domain. The implementations were carried out using the state-of-the-art BlackBox planner.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Blackbox. http://www.cs.rochester.edu/kautz/satplan/blackbox
Bertoli, P., Cimatti, A., Lago, D.U., Pistore, M.: Extending pddl to nondeterminism, limited sensing and iterative conditional plans. In: ICAPS Workshop on PDDL (2003)
Bertoli, P., Cimatti, A., Pistore, M., Roveri, M., Traverso, P.: Mbp: a model based planner. In: IJCAI Workshop on Planning under Uncertainty and Incomplete Information (2001)
Ghallab, M., Nau, D., Traverso, P.: Automated Planning: Theory and Practice. Elsevier, Melbourne (2004)
Hoffmann, J., Nebel, B.: The ff planning system: fast plan generation through heuristic search. J. Artif. Intell. Res. 14, 253–302 (2001)
Levesque, H.J.: What is planning in the presence of sensing? In: AAAI, pp. 1139–1146 (1996)
Levesque, H.J.: Planning with loops. In: IJCAI, pp. 509–515 (2005)
McDermot, D., Ghallab, M., Howe, A., Knoblock, C., Ram, A., Veloso, M., Weld, D., Wilkins, D.: Pddl. Technical report CVC TR98003/DCS TR1165
Milani, A., Rossi, F., Pallottelli, S.: Planning based integration of web services. In: Iinternational Conference on Web Intelligence and Intelligent Agent Technology, pp. 125–128 (2006)
Zhang, X.: Reasoning about sensing actions in domains with multi-valued fluents. Stud. Logica 68, 1–26 (2001)
Acknowledgements
The authors thank the anonymous reviewers of ISMIS 2015 for their valuable comments and suggestions for improving the paper.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Niyogi, R., Milani, A. (2015). Planning with Sets. In: Esposito, F., Pivert, O., Hacid, MS., Rás, Z., Ferilli, S. (eds) Foundations of Intelligent Systems. ISMIS 2015. Lecture Notes in Computer Science(), vol 9384. Springer, Cham. https://doi.org/10.1007/978-3-319-25252-0_43
Download citation
DOI: https://doi.org/10.1007/978-3-319-25252-0_43
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-25251-3
Online ISBN: 978-3-319-25252-0
eBook Packages: Computer ScienceComputer Science (R0)