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BLG521E - Lecture 7
Outline
Time,schedulesandresources
BLG521E AdvancedArtificialIntelligence
Lecture7:PlanningandActing intherealworld
HierarchicalTaskNetwork planning Nondeterministicdomains

Conditionalplanning Executionmonitoringandreplanning Continuousplanning
Multiagentplanning
AdvancedArtificialIntelligence(BLG521E)@ITU ::ComputerEngineeringDepartment,Dr.SanemSarelTalay
Untilknow:
whatactionstodo
Jobshopscheduling:
jobsconsistsofasequenceofactions Actionduration required resources Determineaschedulethatminimizesthetotaltime requiredtocompletealljobs(respectingresource constraints).
IntheReal World:
actions occur at certain moments in time. actionsoccuratcertainmomentsintime. actionshaveabeginningandanend. actionstakeacertainamountoftime.
AutomobileAssemblyProblem
Init(Chassis(C1) Chassis(C2) Engine(E1,C1,30) Engine(E1,C2,60) Wheels(W1,C1,30) Wheels(W2,C2,15)) Goal(Done(C1) Done(C2)) Action(AddEngine(e,c,m) PRECOND:Engine(e,c,d) Chassis(c) EngineIn(c) g ( ) ( ) g ( ) EFFECT:EngineIn(c) Duration(d)) Action(AddWheels(w,c) PRECOND:Wheels(w,c,d) Chassis(c) EFFECT:WheelsOn(c) Duration(d)) Action(Inspect(c) PRECOND:EngineIn(c) WheelsOn(c) Chassis(c) EFFECT:Done(c) Duration(10))
SolutionfoundbyPOP
Slack of 15
critical path iti l th
BLG521E - Lecture 7
Planningvs.scheduling
Howdoestheproblemdifferfromastandardplanning problem? Whendoesanactionstartandwhendoesitend? Soplanningdurationisalsoconsidered
Duration(d)
ESandLS
Earliestpossible(ES)andlatestpossible(LS)start times. LSES=slackofanaction forallactionsdeterminestheschedulefortheentire p problem.
ES(Start)=0 ES(B)=maxA<B ES(A)+Duration(A) LS(Finish)=ES(Finish) LS(A)=minA<B LS(B)Duration(A)
Criticalpathmethod isusedtodeterminestartandendtimes: Path=linearsequencefromstarttoend Criticalpath=pathwithlongesttotalduration

Determinesthedurationoftheentireplan Criticalpathshouldbeexecutedwithoutdelay
Complexity ofCriticalPathAlgorithm isO(Nb) (given aPO)

Schedulingwithresources
Resourceconstraints=requiredmaterialorobjects toperformtask
Reusableresources Aresourcethatisoccupiedduringanactionbutbecomesavailable whentheactionisfinished. Requireextensionofactionsyntax: Resource: R(k)
kunitsofresourcearerequiredbytheaction. Isaprerequisitebeforetheactioncanbeperformed. Resourcecannotbeusedforktimeunitsbyother.
Carexamplewithresources
Init(Chassis(C1) Chassis(C2) Engine(E1,C1,30) Engine(E1,C2,60) Wheels(W1,C1,30) Wheels(W2,C2,15) EngineHoists(1) WheelStations(1) Inspectors(2)) Goal(Done(C1) Done(C2)) Action(AddEngine(e,c,m) PRECOND:Engine(e,c,d) Chassis(c) EngineIn(c) EFFECT:EngineIn(c) Duration(d), RESOURCE:EngineHoists(1)) Action(AddWheels(w,c) Action(AddWheels(w c) PRECOND:Wheels(w,c,d) Chassis(c) EFFECT:WheelsOn(c) Duration(d) RESOURCE:WheelStations(1)) Action(Inspect(c) PRECOND:EngineIn(c) WheelsOn(c) Chassis(c) EFFECT:Done(c) Duration(10) RESOURCE:Inspectors(1)) aggregation
Carexamplewithresources
Schedulingwithresources
Aggregation=groupindividualobjectsinto quantitieswhentheobjectsareundistinguishable withrespecttotheirpurpose.
Reducescomplexity
Resourceconstraintsmakeschedulingproblems morecomplicated. more complicated.

Additionalinteractionsamongactions
Heuristic:minimumslackalgorithm
Selectanactionwithallpredecessors scheduledandwiththeleast slackfortheearliestpossiblestart.
BLG521E - Lecture 7
Hierarchicaltasknetworkplanning
Reducecomplexity hierarchicaldecomposition Ateachlevelofthehierarchyacomputationaltaskisreducedtoa small numberofactivitiesatthenextlowerlevel Thecomputationalcostofarrangingtheseactivitiesislow Hierarchicaltasknetwork(HTN)planningusesarefinement ofactions throughdecomposition through decomposition e.g.buildingahouse=gettingapermit+hiringacontractor+doing theconstruction+payingthecontractor Refineduntilonlyprimitiveactionsremain PureandhybridHTNplanning ActiondecompositionsareusedasplanrefinementsinPOP
Representationdecomposition
Generaldescriptionsarestoredin a planlibrary
Eachmethod=Decompose(a,d); a=actionandd=POplan.
Startactionsuppliesallpreconditionsofactions, not suppliedbyotheractions.

=externalpreconditions =external preconditions
Finishactionhasalleffectsofactionsnotnegated by otheractions
=externaleffects Primaryeffects(usedtoachievegoal)vs.secondaryeffects
Buildhouseexample
Buildhouseexample
Action(Buyland,PRECOND:Money,EFFECT:Land Money) Action(GetLoan,PRECOND:Goodcredit,EFFECT:Money Mortgage) Action(BuildHouse,PRECOND:Land,EFFECT:House) Action(GetPermit,PRECOND:LAnd,EFFECT:Permit) Action(HireBuilder,EFFECT:Contract) Action(Construction,PRECOND:Permit Contract,EFFECT:HouseBuilt Permit), Action(PayBuilder,PRECOND:Money HouseBuilt,EFFECT:Money House Contract), Decompose(BuildHouse, ecompose( uildHouse, Plan::STEPS{S1:GetPermit,S2:HireBuilder,S3:Construction,S4PayBuilder} ORDERINGS:{Start<S1<S3<S4<Finish,Start<S2<S3}, LINKS
External precond
External effects
Start Land S1,Start Money S4,S1 Permit S3,S2 Contract S3, HouseBuilt house Money S3 S4,S4 Finish,S4 Finish
Propertiesofdecomposition
Shouldbecorrectimplementationofactiona CorrectifplandiscompleteandconsistentPOplanforthe problemofachievingtheeffectsofa giventhe preconditionsofa Adecompositionisnotnecessarilyunique Performs information hiding: Performsinformationhiding: STRIPSactiondescriptionofhigherlevelactionhidessome preconditionsandeffects Ignoreallinternaleffectsofdecomposition Doesnotspecifytheintervalsinsidetheactivityduring whichpreconditionsandeffectsmusthold InformationhidingisessentialtoHTNplanning.
RecapitulationofPOP (1) Assumepropositionalplanningproblems:

TheinitialplancontainsStart andFinish,theordering constraintStart<Finish,nocausallinks,allthe preconditionsinFinish areopen. Successorfunction:
picksoneopenpreconditionp onanactionB and generatesasuccessorplanforeverypossibleconsistentwayof choosingactionA thatachievesp.
Testgoal
BLG521E - Lecture 7
RecapitulationofPOP (2) Whengeneratingsuccessorplan:

ThecausallinkAp>BandtheorderingconstraingA <Bisaddedtotheplan.
IfAisnewalsoaddstart<AandA<Btotheplan
AdaptingPOP toHTNplanning
RememberPOP?
Modifythesuccessorfunction:applydecompositionto currentplan
NEWSuccessorfunction:
SelectnonprimitiveactionainP Se ect o p t e act o a ForanyDecompose(a,d) methodinlibrarywherea anda unifywithsubstitution
Replacea withd=subst(,d)
Resolveconflictsbetweennewcausallinkandall existingactions ResolveconflictsbetweenactionA(ifnew)andall existingcausallinks.
POP+HTNexample
a
POP+HTNexample
a
Howtohookupd ina ?
Removeactiona fromPandreplacewith d
Foreachstepsind selectanactionthatwillplaytheroleofs (eithernews orexistings fromP) Possibilityofsubtasksharing
WhataboutHTN?
AdditionalmodificationtoPOP arenecessary BADnews:pureHTNplanningisundecidable dueto recursivedecompositionactions.
Walk=makeonestepandwalk
Connectorderingstepsfora tothestepsind
Putallconstraintssothatconstraintsoftheform B<a aremaintained. B < a are maintained Watchoutfortoostrictorderings!
Connectthecausallinks
IfBp>aisacausallinkinP,replaceitbyasetofcausallinksfromBtoallstepsind withpreconditionspthatweresuppliedbythestartstep Dothesameforap>C
Resolveproblemsby
Ruleoutrecursion Boundthelengthofrelevantsolutions HybridizeHTNwithPOP
YetHTNcanbeefficient
AdvancedArtificialIntelligence(BLG521E)@ITU ::ComputerEngineeringDepartment,Dr.SanemSarelTalay AdvancedArtificialIntelligence(BLG521E)@ITU ::ComputerEngineeringDepartment,Dr.SanemSarelTalay
BLG521E - Lecture 7
PlanningandActinginNondeterministicdomains
Sofar:fullyobservable,staticanddeterministicdomains.
Agentcanplanfirstandthenexecuteplanwitheyesclosed
Handlingindeterminacy
Sensorlessplanning(conformantplanning)
Findplanthatachievesgoalinallpossiblecircumstances(regardlessof initialstateandactioneffects).
Uncertainenvironment:incomplete(partiallyobservableand/or nondeterministic)andincorrect(differencesbetweenworldand model)information

Usepercepts Adapt plan when necessary Adaptplanwhennecessary
Conditionalplanning(Contingencyplanning)
Constructconditionalplanwithdifferentbranchesforpossible contingencies.
E Executionmonitoringandreplanning i i i d l i
Whileconstructingplanjudgewhetherplanrequiresrevision.
Degreeofuncertaintydefinedbyindeterminacy
Bounded:actionscanhaveunpredictableeffects,yetcanbelistedinactiondescription axioms.
Whenflippingacoin,outcomeiseitherheadortail
Continuousplanning
Planningactiveforalifetime:adapttochangedcircumstancesand reformulategoalsifnecessary.
Unbounded:preconditionsandeffectsunknownortoo largetoenumerate.
Taxidrivingagent
Sensorlessplanning
Anabstractexample
Initialstate=< chair, table,cansofpaint,unknowncolors > goalstate = < color(table)=color(chair) > Classicalplanningagentcouldnothandlethisproblem Sensorless planning(Conformant planning)
Openanycanofpaintandapplyittobothchairandtable. O f i t d l it t b th h i d t bl
Conditionalplanning(Contingencyplanning)
Sensecoloroftableandchair,iftheyarethesamethenfinish; elsesenselabelspaintifcolor(label)= color(Furniture)thenapplycolortotheotherpiece; elseapplycolortoboth
Executionmonitoringandreplanning
Sameasconditionalandcanfixerrors(missedspots)
Continuousplanning
Canrevisegoalwhenwewanttofirsteatbeforepaintingthetableandthechair.
Conditionalplanning
Dealwithuncertaintybycheckingthe environmenttoseewhatisreallyhappening. Assume infullyobservableand nondeterministicenvironments: nondeterministic environments:
Theoutcomeofanactionisunknown. Conditionalstepswillcheckthestateoftheenvironment. Howtoconstructaconditionalplan?
Example,thevacuumworld
BLG521E - Lecture 7
Conditionalplanning
Actions:left,right,suck Propositionstodefinestates:AtL,AtR,CleanL, CleanR Howtoincludeindeterminism?
Actionscanhavemorethanoneeffect E.g.movingleftsometimesfails Action(Left,PRECOND:AtR,EFFECT:AtL) Becomes:Action(Left,PRECOND:AtR,EFFECT:AtLAtR) Actionscanhaveconditionaleffects Action(Left,PRECOND:AtR,EFFECT:AtL(AtLwhen cleanL: cleanL) Bothdisjunctiveandconditional
Conditionalplanning
Conditionalplansrequireconditionalsteps:
If<test> thenplan_A elseplan_B if AtLCleanL then Right else Suck Plansbecometrees
G Gamesagainstnature: i
Findconditionalplansthatworkregardlessofwhichactionoutcomes actuallyoccur. Assumevacuumworld Initialstate=AtR CleanL CleanR DoubleMurphy:possibilityofdepositdirtwhenmovingtoother squareandpossibilityofdepositingdirtwhenactionisSuck.
Gametree
State node
SolutionofGamesagainstNature
Solutionisasubtreethat Hasagoalnodeateveryleaf Specifiesoneactionateachofitsstatenodes Includeseveryoutcomebranchateachofthechance nodes. Inpreviousexample:
[Left,if AtL CleanL CleanR then [ ]else Suck]
chance node
Forexactsolutions:useMinimaxalgorithmwithtwo modifications: MAX andMIN nodesbecomeORandAND nodes Algorithmreturnsconditionalplaninsteadofasingle move

AndOrSearchalgorithm
function AND-OR-GRAPH-SEARCH(problem) returns a conditional plan or failure return OR-SEARCH(INITIAL-STATE[problem], problem, []) function OR-SEARCH(state, problem, path) returns a conditional plan or failure if GOAL-TEST[problem](state) then return the empty plan if state is on path then return failure for action,state_set in SUCCESSORS[problem](state) do plan AND SEARCH( t t l AND-SEARCH(state_set, problem, [ t t | plan] ) t bl [state l ] if plan failure then return [action | plan] return failure function AND-SEARCH(state_set, problem, path) returns a conditional plan or failure for each si in state_set do plani OR-SEARCH(si, problem,path ) if plan = failure then return failure return [ if s1 then plan1 else if s2 then plan2 else if sn-1 then plann-1 else plann]
AndOrSearch algorithm
Howdoesitdealwithcycles? Whenastatethatalreadyisonthepathappears,return failure
Nononcyclicsolution
Ensuresalgorithmtermination
Thealgorithmdoesnotcheckwhethersomestateisalreadyonsomeotherpathfromtheroot.
BLG521E - Lecture 7
AndOrSearch algorithm
Sometimesonlyacyclicsolutionexists e.g.tripplemurphy:sometimesthemoveisnotperformed
[Left,if CleanL then []else Suck]isnotasolution
CPin PartiallyObservableEnvironments
Fullyobservable:conditionaltestscanaskany questionandgetananswer Partiallyobservable
Theagenthaslimitedinformationabouttheenvironment. Modeled by a state set = belief states Modeledbyastateset=beliefstates E.g.assumevacuumagentwhichcannotsensepresenceorabsence ofdirtinothersquaresthantheoneitison. alternativemurphy:dirtcanbeleftbehindwhenmovingtoother square. Solutioninfullyobservableworld:keepmovingleftandright, suckingdirtwheneveritappearsuntilbothsquaresarecleanand Iminsquareleft.
Uselabeltorepeatpartsofplan(butinfiniteloops)
[L1:Left,if AtR then L1 else if CleanL then []else Suck]
PO:alternatedoublemurphy
Beliefstates Representation
Setsoffullstatedescriptions
{(AtRCleanRCleanL) (AtRCleanRCleanL)} Exponential
Logicalsentencesthatcapturethesetofpossible worldsinthebeliefstate(OWA)
AtR CleanR
Knowledgepropositionsdescribingtheagents knowledge(CWA)
K(AtR) K(CleanR)
Beliefstates
Choice2and3areequivalent(letscontinuewith3) Symbolscanappearinthreeways:positive,negativeor unknown:3n possiblebeliefstatesforn propositionsymbols. YET,setofbeliefsetsisapowersetofthephysicalstates whichismuchlargerthan3n Hence3isrestrictedasrepresentation
AnyschemecapableofrepresentingeverypossiblebeliefstatewillrequireO(2n) bittorepresent eachoneintheworstcase. ThecurrentschemeonlyrequiresO(n)
SensinginConditional Planning
Howdoesitwork?
Automaticsensing
Ateverytimesteptheagentgetsallavailablepercepts
Activesensing
Perceptsareobtainedthroughtheexecutionofspecificsensoryactions. checkDirt andcheckLocation
Giventherepresentationandthesensing, actiondescriptionsare formulated.
BLG521E - Lecture 7
Monitoringandreplanning
Executionmonitoring:checkwhether everythingisgoingasplanned.
Unboundedindeterminancy:someunanticipated circumstanceswillarise. Anecessityinrealisticenvironments.
Monitoringandreplanning
Whensomethingunexpectedhappens:replan
Toavoidtoomuchtimeonplanningtrytorepairtheoldplan.
Types ofmonitoring:
Actionmonitoring:verifywhetherthenextactionwill work. Planmonitoring:verifytheentireremainingplan.
Canbeappliedinbothfullyandpartially , y observableenvironments,andtoavarietyof planningrepresentations.
Replanningagent
functionREPLANNINGAGENT(percept) returnsanaction static: KB,aknowledgebase(+actiondescriptions) plan,aplaninitially[] whole_plan,aplaninitially[] goal,agoal TELL(KB,MAKEPERCEPTSENTENCE(percept,t)) current STATEDESCRIPTION(KB,t) ifplan =[] whole_plan plan PLANNER(current, goal,KB) ifPRECONDITIONS(FIRST(plan))notcurrentlytrueinKBthen candidates SORT(whole_plan,orderedbydistancetocurrent) findstate s incandidates suchthat failure repair PLANNER(current,s,KB) continuation thetailofwhole_plan startingat s whole_plan plan APPEND(repair,continuation) returnPOP(plan)
Repairexample
Repairexample:painting
Init(Color(Chair,Blue)Color(Table,Green) ContainsColor(BC,Blue) PaintCan(BC) ContainsColor(RC,Red) PaintCan(RC)) Goal(Color(Chair,x) Color(Table,x)) Action(Paint(object,color) PRECOND:HavePaint(color) EFFECT:Color(object,color)) Action(Open(can) PRECOND:PaintCan(can) ContainsColor(can,color) EFFECT:HavePaint(color)) [Start;Open(BC);Paint(Table,Blue),Finish]
Repairexample:painting
Supposethattheagentnowperceivesthatthecolorsoftable andchairaredifferent Figureoutpointinwhole_plan toaimfor
CurrentstateisidenticalasthepreconditionbeforePaint
Repairactionsequencetogetthere.
Repair=[]andplan=[Paint,Finish]
Continue performing this new plan Continueperformingthisnewplan

Willloopuntiltableandchairareperceivedasthesame.
Actionmonitoringcanleadtolessintelligentbehavior Assumetheredisselectedandthereisnotenoughpaint toapplytobothchairandtable. Improvedbydoingplanmonitoring
BLG521E - Lecture 7
Planmonitoring
Checkthepreconditionsforsuccessoftheentire plan. Exceptthosewhichareachievedbyanotherstepinthe plan. Executionofdoomedplaniscutofearlier. Tradeoff between detection of failure and expensive Tradeoffbetweendetectionoffailureandexpensive monitoring Limitationofreplanningagent: Itcannotformulatenewgoalsoracceptnewgoalsin additiontothecurrentone
Continuousplanning
Agentpersistsindefinitelyinanenvironment
Phasesofgoalformulation,planningandacting
Executionmonitoring+plannerasone continuousprocess ti Example: Blocksworld

Assumeafullyobservableenvironment Assumepartiallyorderedplan
Blocks worldexample
Initialstate: (a)
Action(Move(x,y), PRECOND:Clear(x) Clear(y) On(x,z) EFFECT:On(x,y) Clear(z) On(x,z) Clear(y)

Blocks worldexample
Assumethatperceptsdontchangeandthisplanisconstructed OrderingconstraintbetweenMove(D,B) andMove(C,D) Startislabelofcurrentstateduringplanning. Beforetheagentcanexecutetheplan,natureintervenes:
DismovedontoB
Theagentfirstneedtoformulateagoal:On(C,D) On(D,B) On(D B) Planiscreatedincrementally,returnNoOp andcheck percepts
Blocks worldexample
StartcontainsnowOn(D,B) Agentperceives:Clear(B) andOn(D,G)arenolongertrue
Updatemodelofcurrentstate(start)
Blocks worldexample
Extending:wheneveracausallinkcanbesuppliedbyaprevious step Allredundantsteps(Move(D,B)andits causallinks)areremoved fromtheplan Executenewplan,performactionMove(C,D)
Thisremovesthestepfromtheplan
CausallinksfromStart toMove(D,B) (Clear(B) andOn(D,G))nolongervalid.

RemovecausalrelationsandtwoPRECONDofMove(D,B) areopen ReplaceactionandcausallinkstoFinish byconnectingStart toFinish.
BLG521E - Lecture 7
Blocks worldexample
Executenewplan,performactionMove(C,D)
AssumeagentisclumsyanddropsConA
Blocks worldexample
SimilartoPOP Oneachiterationfindplanflawandfixit Possibleflaws:Missinggoal,Openprecondition,Causalconflict, Unsupportedlink,Redundantaction,Unexecutedaction, unnecessaryhistoricalgoal
NoplanbutstillanopenPRECOND Determinenewplanforopencondition Again Move(C,D)
Multiagent planning
Sofarweonlydiscussedsingleagentenvironments. Otheragentscansimplybeaddedtothemodelof theworld:
Poorperformancesinceagentsarenotindifferentof otheragents intentions
Cooperation:Jointgoalsandplans
Multiplanningproblem:assumedoubletennis examplewhereagentswanttoreturnball.
Agents(A,B) Init(At(A,[Left,Baseline]) At(B,[Right,Net]) Approaching(Ball,[Right, Baseline]) Partner(A,B) Partner(B,A)) Goal(Returned(Ball) At(agent,[x,Net])) Goal(Returned(Ball) At(agent [x Net])) Action(Hit(agent,Ball) PRECOND:Approaching(Ball,[x,y]) At(agent,[x,y]) Partner(agent, partner) At(partner,[x,y]) EFFECT:Returned(Ball)) Action(Go(agent,[x,y]) PRECOND:At(agent,[a,b]) EFFECT:At(agent,[x,y]) At(agent,[a,b]))
Ingeneraltwotypesofmultiagentenvironments:
Cooperative Competitive
Cooperation:Jointgoalsandplans
Jointgoal:winningthematch Asolutionisajointplan consistingofactionsforbothagents. Plan1:
A:[Go(A,[Right,Baseline]),Hit(A,Ball)] B:[NoOp(B),NoOp(B)]
Multibodyplanning
Planningproblemfacedbyasinglecentralizedagentthatcan dictateactions toeachofseveralphysicalentities.
Hencenottrulymultiagent
Plan2:
A:[Go(A,[Left,net),NoOp(A)] B:[Go(B,[Right,Baseline]),Hit(B,Ball)]
Important:synchronizationofactions Assumeeach actiontakesonetimestepandateachpoint inthejointplantheactionsaresimultaneous Jointactions:

[<Go(A,[Left,Net]),Go(B,[Right,Baseline]>; <NoOp(A),Hit(B,Ball)>]
Coordination isrequiredtoreachsamejointplan PlanningcanbeperformedusingPOP appliedtothesetof allpossiblejointactions.

Sizeofthisset:nactionsmagents> nm
10
BLG521E - Lecture 7
Multibodyplanning
Alternativetosetofalljointactions:addextra concurrencylinestoactiondescription Concurrentaction
Action(Hit(A,Ball) CONCURRENT:Hit(B,Ball) PRECOND:Approaching(Ball,[x,y]) At(A,[x,y]) EFFECT:Returned(Ball)) EFFECT R t d(B ll))
Multibodyplanning
PlannersimilartoPOP withsomesmallchangesin possibleorderingrelations
Temporalorderingrelations
A<B(before) A=B(concurrent) A B ( before or concurrent) A B(beforeorconcurrent)
Requiredactions(carryingobjectbytwoagents)
Action(Carry(A,cooler,here,there) CONCURRENT:Carry(B,cooler,herethere) PRECOND:)
Concurrentactionsareinstantiated(neworexisting) Prohibitiedconcurrentactions:constraintstoberesolved
Coordinationmechanisms
Toensureagreementonjointplan:useconvention. Convention=aconstraintontheselectionofjointplans
sticktoyourcourtoroneplayerstaysatthenet oneplayeralwaysstaysatthenet
Flockingexample
Threerules:
Separation: Steerawayfromneighborswhenyougettooclose Cohesion Steertowards theaveragepositionofneighbors Alignment Steertowards theaverageorientationofneighbors Steer towards the average orientation of neighbors
Conventions which are widely adopted=sociallaws Conventionswhicharewidelyadopted social laws

driveonthepropersideoftheroad
Canbedomainspecificorindependent Couldarisethroughevolutionaryprocess(flockingbehavior).
Flockexhibits emergentbehavior of flyingasapseudorigid body.

http://www.red3d.com/cwr/boids/
Coordinationmechanisms
Intheabsenceofconventions:
Communication
e.g. Shout Mine!OrYours!intennisexample
Competitiveenvironments
Agentscanhaveconflictingutilities
e.g.zerosumgameslikechess
Planrecognition
Theagentmust:
Recognizethatthereareotheragents Computesomeoftheotheragentsplans Computehowtheotheragentsinteractwithitsownplan Compute how the other agents interact with its own plan Decideonthebestactioninviewoftheseinteractions.
Th b d Theburdenofarrivingatasuccessfulljointplancan f i i t f ll j i t l beplacedon
Agentdesigner(agentsarereactive,noexplicitmodelsofother agents) Agent(agentsaredeliberative,modelofotheragentsrequired)
Modeloftheotheragents isrequired Nocommitmenttojointactionplan.
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BLG521E - Lecture 7

HierarchicalTaskNetwork planning Nondeterministicdomains

critical path iti l th

Criticalpathmethod isusedtodeterminestartandendtimes: Path=linearsequencefromstarttoend Criticalpath=pathwithlongesttotalduration

Complexity ofCriticalPathAlgorithm isO(Nb) (given aPO)

Resourceconstraintsmakeschedulingproblems morecomplicated. more complicated.

Startactionsuppliesallpreconditionsofactions, not suppliedbyotheractions.

RecapitulationofPOP (1) Assumepropositionalplanningproblems:

RecapitulationofPOP (2) Whengeneratingsuccessorplan:

Resolveconflictsbetweennewcausallinkandall existingactions ResolveconflictsbetweenactionA(ifnew)andall existingcausallinks.

Uncertainenvironment:incomplete(partiallyobservableand/or nondeterministic)andincorrect(differencesbetweenworldand model)information

Forexactsolutions:useMinimaxalgorithmwithtwo modifications: MAX andMIN nodesbecomeORandAND nodes Algorithmreturnsconditionalplaninsteadofasingle move

Giventherepresentationandthesensing, actiondescriptionsare formulated.

Canbeappliedinbothfullyandpartially , y observableenvironments,andtoavarietyof planningrepresentations.

Continue performing this new plan Continueperformingthisnewplan

Actionmonitoringcanleadtolessintelligentbehavior Assumetheredisselectedandthereisnotenoughpaint toapplytobothchairandtable. Improvedbydoingplanmonitoring

Executionmonitoring+plannerasone continuousprocess ti Example: Blocksworld

Theagentfirstneedtoformulateagoal:On(C,D) On(D,B) On(D B) Planiscreatedincrementally,returnNoOp andcheck percepts

CausallinksfromStart toMove(D,B) (Clear(B) andOn(D,G))nolongervalid.

NoplanbutstillanopenPRECOND Determinenewplanforopencondition Again Move(C,D)

Important:synchronizationofactions Assumeeach actiontakesonetimestepandateachpoint inthejointplantheactionsaresimultaneous Jointactions:

Coordination isrequiredtoreachsamejointplan PlanningcanbeperformedusingPOP appliedtothesetof allpossiblejointactions.

Conventions which are widely adopted=sociallaws Conventionswhicharewidelyadopted social laws

Flockexhibits emergentbehavior of flyingasapseudorigid body.

Modeloftheotheragents isrequired Nocommitmenttojointactionplan.

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