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Partial Order Plan Execution. Brian C. Williams 16.412J/6.834J Sept. 16 th , 2002. Slides with help from: Dan Weld Stuart Russell & Peter Norvig. 1. Outline. Plan execution Plan monitoring. Start. At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.). At(Home). Go(HWS). - PowerPoint PPT Presentation
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Partial Order Plan Execution
1
Brian C. Williams
16.412J/6.834J
Sept. 16th, 2002Slides with help from:Dan Weld Stuart Russell & Peter Norvig
Outline• Plan execution
• Plan monitoring
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)
Execution
Can perform a stepwhen all predecessorshave been executed.
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)
Execution
Can perform a stepwhen all predecessorshave been executed.
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)Can perform a stepwhen all predecessorshave been executed.
Execution
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)Can perform a stepwhen all predecessorshave been executed.
Execution
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)Can perform a stepwhen all predecessorshave been executed.
Execution
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)Can perform a stepwhen all predecessorshave been executed.
Execution
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)Can perform a stepwhen all predecessorshave been executed.
Execution
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)Can perform a stepwhen all predecessorshave been executed.
Execution
Plan Execution
Initialize the agenda, called Ready, with action StartMark all actions as not executed.
Loop • If Ready is empty then terminate.• Dequeue action a from Ready and execute• When completed, mark a as executed.• For each action b such that a < b or linked(a,b,p).
– If every action c is marked executed, such that c < b or linked(c,b,p’)
– Then queue b on Ready.
Outline• Partial order planning in a nutshell
• Plan execution
• Plan monitoring
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)
Fail if preconditions of ready action are not satisfied.
Action Monitoring
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)
Action Monitoring
Fail if preconditions of ready action are not satisfied.
Plan Execution with Action Monitoring
Initialize the agenda, called Ready, with action StartMark all actions as not executed.Loop• If Ready is empty then terminate.• Dequeue action a from ready • If preconditions of action are satisfied
– Then execute– Else return failure
• When completed, mark a as executed.• For each action b such that a < b or linked(a,b,p).
– If every action c has been executed, such that c < b or linked(c,b,p’)
– Then queue b on Ready.
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)
ExecutionMonitoring• Check if precondition of remaining plan is violated.
•Check if causal link crossing current time is violated.
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)
ExecutionMonitoring• Check if precondition of remaining plan is violated.
•Check if causal link crossing current time is violated.
Plan Execution with Execution Monitoring
Initialize agenda Ready with action StartInitialize agenda ActiveLinks to emptyMark all actions as not executed.Loop• If Ready is empty then terminate.• For each link on ActiveLinks
– If the condition of link doesn’t hold, Then return failure
• Dequeue action a from Ready • If preconditions of action are satisfied
– Then execute– Else return failure
• …
Plan Execution with Execution Monitoring (cont).
Loop• …• Mark a as executed. • For each action c such that linked(c,a,p).
– dequeue <c,a,p> from ActiveLinks.
• For each action d such that linked(a,d,p).– queue <a,d,p> on ActiveLinks.
• For each action b such that a < b or linked(a,b,p).– If every action c has been executed,
such that c <b or linked(c,b,p’)– Then queue b on Ready.
Outline• Plan execution
• Plan monitoring
Monitors
Autonomous Agents: What is missing?
Command dispatchFault protectionAttitude control
Mission Goal Scenario
Self-commandingSelf-commandingSelf-diagnosingSelf-diagnosingSelf-repairingSelf-repairing
RECOVERY
PLA
NN
ING
EX
EC
UTIO
N
Outline• Plan execution
• Plan monitoring
• Appendix: Partial order planning in a nutshell
Simple Operator-based Planning• Input
– Initial state of world– Goal
• partial state
– Operators (actions)• Fn: world-stateworld-state
• Output– Sequence of actions
What assumptions areimplied?
• Atomic time.
• Agent is omniscient (no sensing necessary).
• Agent is sole cause of change.
• Actions have deterministic effects.
• No indirect effects.
STRIPS Assumptions
a
aa
north11 north12
W0 W2W1
STRIPS Representation
• Effects specify how to change the set of propositions.
a anorth11
W0 W1
• Initial state:• ((block a) (block
b) (block c) (on-table a) (on-table b) (clear a) (clear b) (clear c)
(arm-empty))
• goal (partial state):• ((on a b)
(on b c)))
• Available actions• Strips operators
precond: (and (agent-at 1 1)(agent-facing north))
effect: (and (agent-at 1 2) (not (agent-at 1 1)))
North11
Action Schemata
(:operator pick-up :parameters ((block ?ob1)) :precondition (and (clear ?ob1)
(on-table ?ob1) (arm-empty))
:effect (and (not (clear ?ob1)) (not (on-table ?ob1))
(not (arm-empty)) (holding ?ob1)))
• Instead of defining: pickup-A and pickup-B and …
• Define a schema:Note: strips doesn’t
allow derived effects;
you must be complete!}
?var denotes a free variable
A Solution: Complete and Consistent Plan
• Complete Plan
• Consistent Plan
IFF every precondition of every step is achieved
A step’s precondition is achieved iff • its the effect of a preceding step,• no possibly intervening step undoes it.
IFF there is no contradiction in the ordering constraints(I.e., never si < sj and sj < si.)
Start
Go(HWS)
Go(Home)
Finish
Buy(Drill)
Buy(Milk) Buy(Ban.)
Go(SM)
Have(Milk) At(Home) Have(Ban.) Have(Drill)
At(SM), Sells(SM,Milk)
At(SM)
At(SM), Sells(SM,Ban.)
At(Home)
At(HWS)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)
POP(<A,O,L>, agenda, actions)
• <A,O,L>, A partial plan to expand
• Agenda: A queue of open conditions still to be satisfied: <p, aneed >
• Actions: A set of actions that may be introduced to meet needs.
• aadd: an action that produces the needed condition p for aneed
• Athreat : an action that might threaten a causal link from aproducer to aconsumer
POP(<A,O,L>, agenda, actions)1. Termination: If agenda is empty, return plan <A,O,L>.
2. Goal Selection: select and remove open condition <p, aneed > from agenda.
3. Action Selection: Choose new or existing action aadd that can precede aneed and whose effects include p. Link and order actions.
4. Update Agenda: If aadd is new, add preconditions to agenda.
5. Threat Detection: For every action athreat that might threaten some causal link from aproduce to aconsume, choose a consistent ordering:
a) Demotion: Add athreat < aproduce
b) Promotion: Add aconsume < athreat
6. Recurse: on modified plan and agendaChoose is nondeterministic Select is deterministic
Start
Go(HWS)
Finish
Buy(Drill) Buy(Milk) Buy(Ban.)
Go(SM)
Have(Drill) Have(Milk) Have(Ban.) at(Home)
At(SM), Sells(SM,Milk) At(SM), Sells(SM,Ban.)
At(Home)
At(HWS) Sells(HWS,Drill)
At(Home) Sells(HWS,Drill) Sells(SM,Milk) Sells(SM,Ban.)
At(x)
Go(Home)At(SM)