E(Unstack)={(not (clearx)),(not (onxy)),(not (arm-empty)),(holdingx),(cleary)}

2) ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? , ? ? ? ? ? ? ? ? T i ? ? ? ? ? ? i ? ? ? ? ? ? ? ? ? ? , ? ? ? ?,T 0 ? ? ? ? ? ? ? ? ? ?

ISSN 1000-9825, CODEN RUXUEW E-mail: jos@iscas.ac.cn

Journal of Software, Vol.18, No.6, June 2007, pp.1328 1349 doc.guandang.net DOI: 10.1360/jos181328 Tel/Fax: +86-10-62562563

© 2007 by Journal of Software. All rights reserved.

STRIPS规划领域中动作效果关系的研究

吴向军1, 姜云飞2, 凌应标3+

1

2

3 (中山大学 软件学院,广东 广州 510275) (中山大学 信息科学与技术学院 软件研究所,广东 广州 510275) (中山大学 信息科学与技术学院 计算机科学系,广东 广州 510275)

Research on Relations of Effect of Action for STRIPS Domain

WU Xiang-Jun1, JIANG Yun-Fei2, LING Ying-Biao3+

1

2

3(Software School, SUN YAT-SEN University, Guangzhou 510275, China) (Software Research Institute, School of Information Science and Technology, Sun Yat-Sen University, Guangzhou 510275, China) (Department of Computer Science, School of Information Science and Technology, Sun Yat-Sen University, Guangzhou 510275, China)

+ Corresponding author: Phn: +86-20-84036776, E-mail: isslyb@mail.sysu.edu.cn

Wu XJ, Jiang YF, Ling YB. Research on relations of effect of action for STRIPS domain. Journal of Software,

2007,18(6):1328 1349. doc.guandang.net

Abstract: This paper anatomizes all actions in planning domain, proposes a descriptive method for the relations

between preconditions and effects of action, and defines some basic relations between preconditions and effects of

action, such as direct concomitant relation, conditional concomitant relation, and direct obstructive relation. These

basic relations express the domain knowledge hiding in the definition of actions. For these basic relations, this paper

defines some compound operations, and obtains indirect obstructive relations and absolute obstructive relations. The

indirect obstructive relation shows the transitivity of preconditions of action, and the absolute obstructive relation

expresses the impact on other predications when one predication is realized by action. Finally, this paper gives some

applications of these relations in the planning system. These relations are the essential theory basis for sorting

predications in target state, judging the target state, and optimizing the strategy of action selection for one

predication.

Key words: AI planning; planing domain; direct concomitant relation; conditional concomitant relation; direct

obstructive relation; indirect obstructive relation; absolute obstructive relation

摘 要: 以规划领域中的动作为研究对象,提出了描述动作前提条件和效果之间关系的方法,定义了动作前提

和效果之间的基本关系:直接伴随关系、条件伴随关系和直接阻碍关系等,这些基本关系反映了规划动作中所隐

含的领域知识.对动作效果的基本关系,定义了进行关系组合的运算,产生出间接阻碍关系和绝对阻碍关系.间接

阻碍关系反映出动作前提条件的传递性;绝对阻碍关系表达出实现一个谓词对其他谓词实现的影响.最后给出

动作效果关系在规划求解过程中的具体运用,这些动作效果关系为目标实现顺序的排序、目标状态可解性的判

Supported by the National Research Foundation for Doctoral Program of Ministry of Education of China (国家教育部博士点基金);

the Special Foundation of SUN YAT-SET University of China (中山大学专项资金)

Received 2005-11-27; Accepted 2006-04-03