1 % ------------------------- Problem Instance
--------------------------
2 % --- Load domain definitions from an external file
-------------------
5 % --- Definition of the initial
state ---------------------------------
6 connected
(loc11
, loc21
, east
).
7 connected
(loc11
, loc12
, north
).
8 connected
(loc12
, loc22
, east
).
9 connected
(loc12
, loc13
, north
).
10 connected
(loc13
, loc23
, east
).
11 connected
(loc13
, loc14
, north
).
12 connected
(loc14
, loc24
, east
).
14 connected
(loc21
, loc31
, east
).
15 connected
(loc21
, loc22
, north
).
16 connected
(loc22
, loc32
, east
).
17 connected
(loc22
, loc23
, north
).
18 connected
(loc23
, loc33
, east
).
19 connected
(loc23
, loc24
, north
).
21 connected
(loc31
, loc32
, north
).
22 connected
(loc32
, loc33
, north
).
24 connected
(loc21
, loc11
, west
).
25 connected
(loc12
, loc11
, south
).
26 connected
(loc22
, loc12
, west
).
27 connected
(loc13
, loc12
, south
).
28 connected
(loc23
, loc13
, west
).
29 connected
(loc14
, loc13
, south
).
30 connected
(loc24
, loc14
, west
).
32 connected
(loc31
, loc21
, west
).
33 connected
(loc22
, loc21
, south
).
34 connected
(loc32
, loc22
, west
).
35 connected
(loc23
, loc22
, south
).
36 connected
(loc33
, loc23
, west
).
37 connected
(loc24
, loc23
, south
).
39 connected
(loc32
, loc31
, south
).
40 connected
(loc33
, loc32
, south
).
42 crate
(cratec
, loc21
, s0
).
43 crate
(crateb
, loc22
, s0
).
44 crate
(cratea
, loc23
, s0
).
48 % --- Goal condition that the planner will try to reach
---------------
49 goal
(S
) :- crate
(_
, loc12
, S
), crate
(_
, loc13
, S
), crate
(_
, loc11
, S
).