Modeling Classical Planning

• States are modeled in terms of (binary)

state-variables

-- Complete initial state, partial goal state

• Actions are modeled as state

transformation functions

-- Syntax: ADL language (Pednault)

-- Apply(A,S) = (S \ eff(A)) + eff(A)

(If Precond(A) hold in S)

Earth

Earth

At(A,E), At(B,E),At(R,E)

At(A,M),At(B,M)

¬In(A), ¬In(B)

Effects

Appolo 13

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