The real world Conditional planning Monitoring and replanning - PowerPoint PPT Presentation

�✁ ❑ P ☎ ✍ ✁ ✟ ◆❖ ◗ ❏ ☎ ■ ❇ ❃ ✲ ❍ ● ✰ ❋ ✄ ✁ ❈❉ ❫ ❪ ❱ ❲ ❵ ❴ ❯ ❚ ❭❪ ✍ ❲ ❬ ❩ ❨ ❱ ❳ ❯❱❲ ❚ ❊ ❈ ❚ ✷✸ ✼ ✱ ✲ ✳ ✺✻ ✹ ✶ ✵✶ ✹ ✴ ✰✱✲✳ ✯ ✂ ✆ ☞ ✄ ☎ ✽ ✾ ❇ ❁ ❆ ❅ ✻ ❄ ❃ ✴ ✾❂ ✳ ✿ ✵ ✰ ✺ ✺ ✲ ✱ ✱ ❀ ❫ ❯ ☞ ✱ ❁ ✳ ✵ ✰ ✺ ✺ ✲ ✱ ✴ ❀ ✿ ✾ ✹ ✽ ✼ ✱ ✲ ✾❂ ❃ ✺✻ ● ❑ ❏ ■ ❇ ❃ ✲ ❍ ✰ ❄ ❋ ❊ ❈❉ ❈ ❇ ❆ ❅ ✻ ✳ ✹ ❴ ❵❡❢ ❦ ❥ ❞ ❫ ✐ ❤✐ ❣ ❩ ✐ ❞ ❫ ❛ ❨ ❪❝ ❱ ❲ ❵ ❭ ❱ ✶ ❞ ✷✸ ✵✶ ✴ ✰✱✲✳ ✯ ♦ ♦ ♦ ❬ ❫ ❦♥ ♠ ❯ ❪ ❡❧ ❭ ❥ ❞ P ■ ☛ ✵✶ ✼ ✱ ✲ ✳ ✺✻ ✹ ✶ ✷✸ ✴ ✹ ✰✱✲✳ ✯ ✭✮ ✬ ✩✫ ★✩✪ ✧ ✦ ✤✥ ✽ ✾ ✜ ✾❂ ❈❉ ❈ ✌ ❆ ❅ ✻ ❄ ❃ ✴ ❁ ✿ ✳ ✵ ✰ ✺ ✺ ✲ ✱ ✱ ❀ ✢✣ ✛ ❋ ✄ ✂✌ �✁ ☞ ☛ ✟ ✞ ✟✡ ✂ ✠ ☞ ☎ ✂ ✁ ☎ ✟ ✂ ✝✞ ☎✆ ✄ ☞ ✟ ✚ ✔ ✙ ✔ ✒ ✓ ✗✘ ✖ ✕ ✒ ✑ ✒ ✍ ✓ ✒ ✒ ✑ ✎✏ ✌ ✞ ✁ ✌ ❊ ❇ ❏ ✱ ❁ ✳ ✵ ✰ ✺ ✺ ✲ ✱ ✴ ◆❖ ✌ ✄ ❀ ✿ ✾ ✽ ✾❂ ❃ ✱ ● ❑ ❇ ■ ❇ ❃ ✲ ❍ ✰ ❄ ❋ ❊ ❈❉ ❈ ❇ ❆ ❅ ✻ ✼ ✹ ✲ ❑ ✳ ✟ ☞ ✂ ✝ ▲ ❏ ❏ ▼ ■ ❇ ❃ ✲ ❍ ● ✰ ✌ ✁ ✷✸ ✵✶ ✶ ✹ ✺✻ ✴ ✰✱✲✳ ✯ ▼ ▼ The real world Conditional planning Monitoring and replanning ✍❙❘ Incomplete information Unknown preconditions, e.g., ? Disjunctive effects, e.g., causes ❨❜❛ ❨❜❛ ❨❜❛ On(x) ~Flat(x) Incorrect information START FINISH Current state incorrect, e.g., spare NOT intact ~Flat(Spare) Intact(Spare) Off(Spare) On(Tire1) Flat(Tire1) Missing/incorrect postconditions in operators Qualification problem: On(x) Off(x) ClearHub Intact(x) Flat(x) can never finish listing all the required preconditions and Remove(x) Puton(x) Inflate(x) possible conditional outcomes of actions ~Flat(x) Off(x) ClearHub On(x) ~ClearHub

♣ ☛ ➂ ☛ ➁ ✌ ✍ ✁ ✟ ✁ ✁ ☞ ☞ ❽ ☞ ☛ ✁ ☎ ✟ ✂ ✟ ✆ ❽ ✌ ☎ ✽ ✺ ✺ ✲ ✱ ✱ ❀ ✿ ✾ ✹ ✼ ✯ ✱ ✲ ✳ ✺✻ ✹ ✶ ✷✸ ✵✶ ✴ ✰✱✲✳ ✁ ❼ ✵ ✽ ✺ ✺ ✲ ✱ ✱ ❀ ✿ ✾ ✹ ✼ ✵ ☎ ✲ ✳ ✺✻ ✹ ✶ ✷✸ ✵✶ ✴ ✰ ✳ ➀ ❋ ❑ ❏ ■ ❇ ❃ ✲ ❍ ● ✰ ❊ ❁ ❈❉ ❈ ❇ ❆ ❅ ✻ ❄ ❃ ✴ ✾❂ ✰ ✳ ✯ ✽ ✺ ✺ ✲ ✱ ✱ ❀ ✿ ✾ ✹ ✼ ✵ ✱ ✲ ✳ ✺✻ ✹ ✶ ✷✸ ✵✶ ✴ ✰ ✳ ✯ ❋ ❑ ❏ ■ ❇ ❃ ✲ ❍ ● ✰ ❊ ❁ ❈❉ ❈ ❇ ❆ ❅ ✻ ❄ ❃ ✴ ✾❂ ✰✱✲✳ ✌ ❁ ❋ ❑ ❏ ■ ❇ ❃ ✲ ❍ ● ✰ ❊ ❼ ❈❉ ❈ ❇ ❆ ❅ ✻ ❄ ❃ ✴ ✾❂ ➃ ☎ ☞ ✁ ❽ ➂ ☛ ➁ ✌ ✍ ✁ ✟ ✁ ☛ ✁ ☞ ❽ ☞ ☛ ✁ ☎ ✟ ✂ ✟ ✆ ✰✱✲✳ ✱ ➄ ❵ ✰✱✲✳ ✯ ❫❹ ❹ ❺ ❺ ❺ ❵ ❲ ✵✶ ⑥ ⑤ ❶ ❫❹ ⑩ ❭❪ ❤ ❪ ❱ ✴ ✷✸ ❵ ✱ ✾❂ ❁ ✳ ✵ ✰ ✺ ✺ ✲ ✱ ❀ ✶ ✾ ✹ ✽ ✼ ✱ ✲ ✳ ✺✻ ✹ ❲ ❴ ❃ ✈✇① s ③ q ② ① ✇④ ③ q ② ✉ ⑥ t qrs ❘ ✁ ☎ ✟ ✂ ✝ ☞ ⑤ ⑦ ❯ ❯❱❲ ❚ ⑤ ❶ ❫ ⑩ ❭❪ ❤ ❱ ❳ ❚ ❪ ❨ ❷❸ ❶ ❫ ⑩ ❭❪ ❤ ❧ ❳ ✴ ✿ ❄ ❨ ❶ ♦ ♦ ♦ ❹ ❬ ❾ ✻ ❷❸ ❹ ❶ ♦ ♦ ♦ ⑤ ✍ ✁ ❯ ✁ ❫ ❬ ☛ ❶ ❲ ❵ ❬ ❪ ✐ ❵ ❪ ⑤ ❹ ❶ ❯ ❲ ❵ ❬ ❯ ❪ ⑦ ❱ ⑤ ✁ ✟ ☞ ❍ ❑ ❏ ❽ ❇ ❿ ❾ ❃ ✲ ● ❼ ✰ ❋ ❊ ❈❉ ❈ ❇ ❆ ❅ ❻ ■ ☎ ✁ ☞ ☛ ✁ ☎ ✟ ✂ ✟ ✆ Conditional planning Plan to obtain information ( ) Execution: check against current KB, execute “then” or “else” Subplan for each contingency, e.g., Conditional planning: just like except ❨⑨⑧ ❨⑨⑧ ❨⑨⑧ if an open condition can be established by observation action Expensive because it plans for many unlikely cases add the action to the plan Monitoring/Replanning complete plan for each possible observation outcome Assume normal states, outcomes insert conditional step with these subplans Check progress during execution , replan if necessary Unanticipated outcomes may lead to failure (e.g., no AAA card) CheckTire(x) In general, some monitoring is unavoidable KnowsIf(Intact(x)) On(Tire1) Tire1 On(Tire1) On( x ) On( x ) Start Flat(Tire1) Finish Start Flat(Tire1) Finish Tire1 Inflated( x ) Inflated( x ) Inflated(Spare) (True) Inflated(Spare) (True) Flat(Tire1) Inflate(Tire1) Intact(Tire1) (Intact(Tire1))

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