From 848aa027bc4b03978dd6f7551cfda7f6700980be Mon Sep 17 00:00:00 2001 From: Mart Lubbers Date: Wed, 12 Nov 2014 09:15:40 +0100 Subject: [PATCH] update --- report/ass1.tex | 103 ++++++++++++++++++++++-------------- report/report.tex | 28 ++++++++-- report/src/domaintask7.pl | 52 ++++++++++++++++++ report/src/instancetask7.pl | 56 ++++++++++++++++++++ report/src/planner.pl | 2 +- 5 files changed, 195 insertions(+), 46 deletions(-) create mode 100644 report/src/domaintask7.pl create mode 100644 report/src/instancetask7.pl diff --git a/report/ass1.tex b/report/ass1.tex index 19e16ab..7826f14 100644 --- a/report/ass1.tex +++ b/report/ass1.tex @@ -54,68 +54,91 @@ crate(cratea, loc12, s) \wedge crate(crateb, loc13, s) \wedge crate(cratec, loc11, s)$ - - \end{itemize} \subsubsection{Task 2: Actions} \begin{itemize} \item{Q5}\\ - $Poss(move(x, y), s) \equiv \\ - (\exists z: connected(x, y, z)) \wedge\\ - \neg(crate(x, y, s))$ + $\begin{array}{rl} + Poss(move(x, y), s) & \equiv \\ + & (\exists z: connected(x, y, z)) \wedge\\ + & \neg(crate(x, y, s)) + \end{array}$ \item{Q6}\\ - $Poss(push(x, y), s) \equiv\\ - agent(x, s) \wedge\\ - (\exists z: - connected(x, z, y) \wedge - (\exists \gamma: crate(\gamma, z, s)) - \wedge\\ - (\exists \alpha: - connected(z, \alpha, y) \wedge - (\nexists \beta: crate(\beta, \alpha, s))))$ + $\begin{array}{rl} + Poss(push(x, y), s) & \equiv\\ + & agent(x, s) \wedge\\ + & (\exists z: + connected(x, z, y) \wedge + (\exists \gamma: crate(\gamma, z, s)) + \wedge\\ + & (\exists \alpha: + connected(z, \alpha, y) \wedge + (\nexists \beta: crate(\beta, \alpha, s)) + ) + ) + \end{array}$ \item{Q7}\\ - $agent(x, result(z, s)) \rightarrow\\ - (\exists y: z = move(y, x)) \vee\\ - (\exists \alpha: - z = push(\beta, \alpha) \wedge - connected(\beta, x, \alpha)) \vee\\ - (\exists \epsilon, \gamma: - z \neq move(x, \epsilon) \wedge - z \neq push(x, \gamma) \wedge - agent(x, s))\\ - crate(x, y, result(A, s)) \rightarrow\\ - (\exists z,\alpha: - A = push(z, \alpha), - (\exists \beta: - connected(z, \beta, \alpha), - connected(\beta, y, \alpha), - crate(x, \beta, s) + $\begin{array}{rl} + agent(x, result(z, s)) & \rightarrow\\ + & (\exists y: z = move(y, x)) \vee\\ + & (\exists \alpha: + z = push(\beta, \alpha) \wedge + connected(\beta, x, \alpha)) \vee\\ + & (\exists \epsilon, \gamma: + z \neq move(x, \epsilon) \wedge + z \neq push(x, \gamma) \wedge + agent(x, s))\\ + crate(x, y, result(A, s)) & \rightarrow\\ + & (\exists z,\alpha: + A = push(z, \alpha), + (\exists \beta: + connected(z, \beta, \alpha), + connected(\beta, y, \alpha), + crate(x, \beta, s) + ) + ) \vee\\ + & (\exists z,\alpha: + A \neq push(z, \alpha)\wedge + connected(z, y, \alpha)\wedge + crate(x, y, s) ) - ) \vee\\ - (\exists z,\alpha: - A \neq push(z, \alpha)\wedge - connected(z, y, \alpha)\wedge - crate(x, y, s) - ) - $ + \end{array}$ \end{itemize} \subsection{Part 2: Implementation} \subsubsection{Task 3: Translate Axioms} The only optimization added to the file is the reverse move optimization, disallowing the agent to reverse a move immediatly. -\inputminted{prolog}{./src/domaintask1.pl} +\begin{listing}[H] + \caption{Domain description task 1} + \prologcode{./src/domaintask1.pl} +\end{listing} \subsubsection{Task 4: The Planning Problem in Figure 1} -\inputminted{prolog}{./src/instancetask4.pl} +\begin{listing}[H] + \caption{Instance description task 4} + \prologcode{./src/instancetask4.pl} +\end{listing} \subsubsection{Task 5: Crates go to Any Goal Location} -\inputminted{prolog}{./src/instancetask5.pl} +\begin{listing}[H] + \caption{Instance description task 5} + \prologcode{./src/instancetask5.pl} +\end{listing} \subsubsection{Task 6: Inverse Problem} \subsection{Part 3: Extending the domain} +\subsubsection{Task 7: Unlocking the Crates} +\begin{listing}[H] + \caption{Instance description task 7} + \prologcode{./src/instancetask7.pl} +\end{listing} +\begin{listing}[H] + \caption{Domain description task 7} + \prologcode{./src/domaintask7.pl} +\end{listing} \subsection{Part 4: General questions} \subsubsection{Task 10: Sitcalc expressivity} diff --git a/report/report.tex b/report/report.tex index 33d7304..6324f25 100644 --- a/report/report.tex +++ b/report/report.tex @@ -1,22 +1,40 @@ \documentclass[titlepage,a4paper]{article} \usepackage{fullpage} +\usepackage{floatrow} \usepackage{lipsum} \usepackage{enumerate} \usepackage{amsmath} \usepackage{amssymb} -\usepackage{listings} \usepackage{minted} \author{ Caspar Safarlou\and Mart Lubbers } \title{Knowledge Representation and Reasoning.\\Assignment 1} \date{\today} -\lstset{ - basicstyle=\ttfamily\footnotesize, -} - \everymath{\displaystyle} +\floatsetup[listing]{style=Plaintop} + +\definecolor{mintedbackground}{rgb}{0.95,0.95,0.95} +\newmintedfile[prologcode]{prolog}{ + bgcolor=mintedbackground, + fontfamily=tt, + linenos=true, + numberblanklines=true, + numbersep=10pt, + numbersep=5pt, + gobble=0, + frame=leftline, + framerule=0.4pt, + framesep=2mm, + funcnamehighlighting=true, + tabsize=4, + obeytabs=false, + mathescape=false + showspaces=false, + showtabs =false, + texcl=false, +} \begin{document} \maketitle diff --git a/report/src/domaintask7.pl b/report/src/domaintask7.pl new file mode 100644 index 0000000..f3a676a --- /dev/null +++ b/report/src/domaintask7.pl @@ -0,0 +1,52 @@ +% ------------------------- Domain Definition ------------------------- +% --- Cross-file definitions ------------------------------------------ +:- multifile connected/3, crate/4, agent/2, key/3. + +% --- Primitive control actions --------------------------------------- +primitive_action(move(_, _)). +primitive_action(push(_, _)). +primitive_action(pickup(_)). + +% --- Precondition for primitive actions ------------------------------ +poss(move(From, To), S) :- + agent(From, S), + connected(From, To, _), + not(crate(_, _, To, S)). + +poss(push(From, Direction), S) :- + agent(From, S), + connected(From, CrateLocation, Direction), + crate(_, Key, CrateLocation, S), + keyinbag(Key, S), + connected(CrateLocation, CrateTarget, Direction), + not(crate(_, _, CrateTarget, S)). + +poss(pickup(CurrentLocation), S) :- + agent(CurrentLocation, S), + key(_, CurrentLocation, S). + +% --- Successor state axioms ------------------------------------------ +agent(AgentPlek, result(A, S)) :- + A = move(_, AgentPlek); + A = push(OudeAgentPlek, Richting), + connected(OudeAgentPlek, AgentPlek, Richting); + not(A = move(AgentPlek, _)), not(A = push(AgentPlek, _)), + agent(AgentPlek, S). + +crate(Krat, _, Kratplek, result(A, S)) :- + A = push(AgentPlek, Richting), + connected(AgentPlek, OudeKratPlek, Richting), + connected(OudeKratPlek, Kratplek, Richting), + crate(Krat, _, OudeKratPlek, S); + not(A = push(AgentPlek2, Richting2)), + connected(AgentPlek2, Kratplek, Richting2), + crate(Krat, _, Kratplek, S). + +key(Key, Location, result(A, S)) :- + not(A = pickup(Location)), key(Key, Location, S). + +keyinbag(Key, result(A, S)) :- + agent(CurrentLocation, S), + A = pickup(CurrentLocation), + key(Key, CurrentLocation, S); + keyinbag(Key, S). diff --git a/report/src/instancetask7.pl b/report/src/instancetask7.pl new file mode 100644 index 0000000..6b89a70 --- /dev/null +++ b/report/src/instancetask7.pl @@ -0,0 +1,56 @@ +% ------------------------- Problem Instance -------------------------- +% --- Load domain definitions from an external file ------------------- +:- [domaintask7]. + +% --- Definition of the initial state --------------------------------- +connected(loc11, loc21, east). +connected(loc11, loc12, north). +connected(loc12, loc22, east). +connected(loc12, loc13, north). +connected(loc13, loc23, east). +connected(loc13, loc14, north). +connected(loc14, loc24, east). + +connected(loc21, loc31, east). +connected(loc21, loc22, north). +connected(loc22, loc32, east). +connected(loc22, loc23, north). +connected(loc23, loc33, east). +connected(loc23, loc24, north). + +connected(loc31, loc32, north). +connected(loc32, loc33, north). + +connected(loc21, loc11, west). +connected(loc12, loc11, south). +connected(loc22, loc12, west). +connected(loc13, loc12, south). +connected(loc23, loc13, west). +connected(loc14, loc13, south). +connected(loc24, loc14, west). + +connected(loc31, loc21, west). +connected(loc22, loc21, south). +connected(loc32, loc22, west). +connected(loc23, loc22, south). +connected(loc33, loc23, west). +connected(loc24, loc23, south). + +connected(loc32, loc31, south). +connected(loc33, loc32, south). + +crate(cratea, keya, loc23, s0). +crate(crateb, keyb, loc22, s0). +crate(cratec, keyc, loc12, s0). + +key(keya, loc21, s0). +key(keyb, loc13, s0). +key(keyc, loc14, s0). + +agent(loc24, s0). + +% --- Goal condition that the planner will try to reach --------------- +goal(S) :- + crate(cratea, _, loc33, S), + crate(crateb, _, loc31, S), + crate(cratec, _, loc11, S). diff --git a/report/src/planner.pl b/report/src/planner.pl index af47cad..b340a92 100644 --- a/report/src/planner.pl +++ b/report/src/planner.pl @@ -71,7 +71,7 @@ result(E,S,result(E,S)) :- primitive_action(E), poss(E,S). :- dynamic debug/1. :- multifile debug/1. -%debug(on). +debug(on). debugoutput(A) :- debug(on), A, !; true. -- 2.20.1