Actions with Resources and Duration

Load(P:package, R:rocket, L:location)

Resources: ?h : robot hand

Preconditions: Position(?h,L) [?s, ?e]

Free(?h) ?s

Charge(?h) > 5 ?s

Effects: holding(?h, P) [?s, ?t1]

depositing(?h,P,R) [?t2, ?e]

Busy(?h) [?s, ?e]

Free(?h) ?e

Charge - = .03*(?e - ?s) ?e

Constraints: ?t1 < ?t2

?e - ?s in [1.0, 2.0]

Capacity(robot) = 3

?s

?e

Pos(?h,L)

Hold(?h,P)

dep(?h,P)

[1,2]

Free(?h)

Free(?h)

Busy(?h)

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