Subject Name: Artificial Intelligence

Unit No:6 Unit Name: Planning

Index

Lecture 35 : Planning in AI

Lecture 36 : Partial Order, Hierarchical Order Conditional Order

Lecture 37 :Blocks world

Lecture 38 :Strips (StanFORD RESEARCH INSTITUE Problem Solver)

Lecture 39 : Real world examples

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Unit No: 6 Unit name: Planning

Lecture No: 35
Planning in AI
What is planning in ng
IterativePlPlanni AI
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• Planning in artificial intelligence is about decision-

making actions performed by robots or computer
programs to achieve a specific goal.
• Execution of the plan is about choosing a sequence of
tasks with a high probability of accomplishing a specific
task.
• Determine the set of steps that are necessary to achieve
a goal
• Some steps might be conditional, i.e., they are only
taken when a set of conditions is present during plan
execution.

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 What is the Role of Planning in Artificial Intelligence?

• Artificial intelligence is an important technology in the future. Whether it is

intelligent robots, self-driving cars, or smart cities, they will all use
different aspects of artificial intelligence!!! But Planning is very important
to make any such AI project.

• Even Planning is an important part of Artificial Intelligence which deals

with the tasks and domains of a particular problem. Planning is considered
the logical side of acting.

• Everything we humans do is with a definite goal in mind, and all our

actions are oriented towards achieving our goal. Similarly, Planning is also
done for Artificial Intelligence.
• For example, Planning is required to reach a particular destination. It is
necessary to find the best route in Planning, but the tasks to be done at a
particular time and why they are done are also very important.
 What is a Plan?

• We require domain description, task specification, and goal description for

any planning system. A plan is considered a sequence of actions, and each
action has its preconditions that must be satisfied before it can act and some
effects that can be positive or negative.

• So, we have Forward State Space Planning (FSSP) and Backward State
Space Planning (BSSP) at the basic level.
Typical Planning Problems

• Representing and reasoning about time, causality, and

intentions
• Physical and other kinds of constraints on acceptable
solutions
• Uncertainty in the execution of plans • How the “real
world” is sensed and perceived
• Multiple agents who may cooperate or interfere * Lucci,
Stephen; Kopec, Danny: Artificial Intelligence in the 21st
Century

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Forward State Space Planning (FSSP)

• FSSP behaves in the same way as forwarding state-space

search. It says that given an initial state S in any domain, we
perform some necessary actions and obtain a new state S'
(which also contains some new terms), called a progression.
• It continues until we reach the target position. Action should be
taken in this matter.

• Disadvantage: Large branching factor

• Advantage: The algorithm is Sound

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Backward State Space Planning
(BSSP)
• BSSP behaves similarly to backward state-space search. In
this, we move from the target state g to the sub-goal g,
tracing the previous action to achieve that goal. This
process is called regression (going back to the previous
goal or sub-goal). These sub-goals should also be checked
for consistency. The action should be relevant in this case.
• Disadvantages: not sound algorithm (sometimes
inconsistency can be found)
• Advantage: Small branching factor (much smaller than
FSSP)
• So for an efficient planning system, we need to combine
the features of FSSP and BSSP, which gives rise to target
stack planning
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you can refer to this video on Forward and backward state space planning

https://www.youtube.com/watch?v=wzEsGsXLDV8

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0
Unit No: 6
Solving

Lecture No: 36
Hierarchical Planning
 Hierarchical Planning

• Hierarchical Planning is an Artificial Intelligence (AI) problem

solving approach for a certain kind of planning problems -- the
kind focusing on problem decomposition, where problems are
step-wise refined into smaller and smaller ones until the problem
is finally solved.

• The plans are organized in a hierarchical format. It works on plan

decomposition. Complex actions are decomposed into simpler or
primitive ones and it can be denoted with the help of links
between various states at different levels of the hierarchy. This is
called operator expansion.

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Three Major Tasks

• Primitive tasks- these correspond to the actions of STRIPS,

• Compound tasks- these are a set of simpler tasks,

• Goal tasks- these correspond to goals of STRIPS.

 Hierarchical Planning

In Hierarchical Planning, we find a sequence of primitive tasks

by decomposition of compound tasks, in order to reach the goal.

For example, in case of building a house, hierarchical

planning is used as shown below.
Unit No: 6 Unit name:Problem
Solving

Lecture No: 37
Blocks world
 Block-world planning problem
•The block-world problem is known as the Sussmann
anomaly.
•The non-interlaced planners of the early 1970s were
unable to solve this problem. Therefore it is considered
odd.
•When two sub-goals, G1 and G2, are given, a non-
interleaved planner either produces a plan for G1 that
is combined with a plan for G2 or vice versa.
•In the block-world problem, three blocks labeled 'A',
'B', and 'C' are allowed to rest on a flat surface. The
given condition is that only one block can be moved at
a time to achieve the target.
Word planning problem

The start position and target position are shown in the following
diagram.
Components of the planning system

The plan includes the following important

steps:
•Choose the best rule to apply the next rule
based on the best available guess.
•Apply the chosen rule to calculate the new
problem condition.
•Find out when a solution has been found.
•Detect dead ends so they can be discarded and
direct system effort in more useful directions.
•Find out when a near-perfect solution is found.
Unit No: 6 Unit name:Problem Solving

Lecture No: 38
STanford Research Institute
Problem Solver
 What is STRIPS?
STRIPS is a planning algorithm that was developed by
Stanford AI Lab in the early 1970s. STRIPS is an acronym
for “Stanford Research Institute Planning System".

The algorithm was designed to be used with a robotic arm,

but it can be applied to other planning problems as well.

The STRIPS algorithm works by breaking down a planning

problem into a series of smaller sub-problems, each of which
can be solved independently. The algorithm then combines
the solutions to the sub-problems to find a solution to the
overall problem.
https://www.youtube.com/watch?v=9UKAkyNpgDE

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STRIPS has been used to solve a variety of planning problems,
including navigation, scheduling, and resource allocation.

The algorithm has also been used to solve problems in other

domains, such as game playing and theorem proving.
 What are the key features of STRIPS ?

STRIPS is a key feature of AI that allows for the manipulation of

objects and symbols in order to solve problems.

This feature allows for the use of heuristics and planning in

order to find solutions to problems.

STRIPS also allows for the use of planning domains and

problem-solving domains in order to find solutions.
How does STRIPS work?

STRIPS is a planning algorithm that works by breaking down a

problem into a series of smaller sub-problems.

It then uses a heuristic search algorithm to find a solution to each

sub-problem. The final solution is then pieced together from the
solutions to the sub-problems.

STRIPS has been used to solve a variety of problems in AI,

including planning and scheduling problems, resource allocation
problems, and pathfinding problems.
 STRIPS representation

The STRIPS representation for an action consists of three lists,

• Pre_Cond list contains predicates which have to be true before

operation.

• ADD list contains those predicates which will be true after operation

• DELETE list contain those predicates which are no longer true after
operation

Predicates not included on either of these lists are assumed to be unaffected

by the operation.Frame axioms are specified implicitly in STRIPS which
greatly reduces amount of information stored.Let us discuss about the action
lists for operations of block world problem.
Action list for operations of block world problem
Predicates not included on either of these lists are assumed to be unaffected by
the operation.Frame axioms are specified implicitly in STRIPS which greatly
reduces amount of information stored.Let us discuss about the action lists for
operations of block world problem.
Stack (X, Y)
Pre: CL (Y) ,HOLD (X)
Del: CL (Y), HOLD (X)
Add: AE , ON (X, Y)
UnStack (X, Y)
Pre: ON (X, Y) , CL (X) , AE
Del: ON (X, Y) , AE
Add: HOLD (X) , CL (Y)
Pickup (X)
Pre: ONT (X) , CL (X) ,AE
Del: ONT (X) , AE
Add: HOLD (X)
Putdown (X)
Pre: HOLD (X)
Del: HOLD (X)
Add: ONT (X) , AE
Unit No: 2 Unit name:Problem Solving

Lecture No: 39
Real world examples
of Strips
Consider a Block world problem ,
Initial State
on(block2, block1)
clear(block2)
ontable(block3)
on(block4, block3)
on(block5, block4)
clear(block5)
Goal State
empty
on(block3, block4)
on(block5, block1)
ont(block2)

Identify the style operators for given problem,

Unstack(block5,block4)

Pre: ON (block5, block4) , CL (block5) , AE

Del: ON (block5,block4) , AE
Add: HOLD (block5) , CL (block4)
Putdown(block5)

Pre: HOLD (block5)

Del: HOLD (block5)
Add: ONT (block5) , AE
Unstack(block4,block3)

Pre: ON (block4, block3) , CL (block4) , AE

Del: ON (block4,block3) , AE
Add: HOLD (block4) , CL (block3)
Putdown(block4)

Pre: HOLD (block4)

Del: HOLD (block4)
Add: ONT (block4) , AE
Pickup(block3)

Pre: ONT (block3) , CL (block3) ,AE

Del: ONT (block3) , AE
Add: HOLD (block3)
Stack(block3,block4)

Pre: CL (block3) ,HOLD (block3)

Del: CL (block4), HOLD (block3)
Add: AE , ON (block3, block4)
Unstack(block2,block1)

Pre: ON (block2, block1) , CL (block2) , AE

Del: ON (block2, block1) , AE
Add: HOLD (block2) , CL (block3)
Putdown(block2)

Pre: HOLD (block2)

Del: HOLD (block2)
Add: ONT (block2) , AE
Pickup(block5)

Pre: ONT (block5) , CL (block5) ,AE

Del: ONT (block5) , AE
Add: HOLD (block5)
Stack(block5,block1)

Pre: CL (block1) ,HOLD (block5)

Del: CL (block1), HOLD (block5)
Add: AE , ON (block5, block1)
After completing all the operations what we found for the given problem,we
had reaches the goal state.

armempty
on(block3, block4)
on(block5, block1)
ont(block2)
Thank You