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Planning with Preferences
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Planning with Preferences
An initial state: a set of propositions and assignments to numeric variables, e.g. (at rover waypoint1) (= (energy rover) 10).
A goal: a desired set of propositions/assignments, e.g. (at rover waypoint4) (have-soil-sample waypoint3).
A set of actions each with:
Preconditions on execution;
Effects that describe how the world
changes upon their execution.
A sequence of actions that when applied in the initial state leads to a state that satisfies the goal condition.
(:action navigate
:parameters
(?r – rover ?y – waypoint ?z – waypoint)
:precondition (and
(available ?r)
(at ?r ?y)
(visible ?y ?z)
(>= (energy ?r) 8))
:effect (and
(decrease (energy ?r) 8)
(not (at ?x ?y))
(at ?x ?z)))
Planning with Preferences
Find: A sequence of actions: any plan will do?
Even the shortest might not be necessarily the best.
We might care about how the goal is achieved.
What if we can’t reach the goal:
Report ‘No Plan Exists’.
Search Indefinitely.
Maybe we could satisfy some of it?
Planning with Preferences
Simple Preferences (soft goals and preconditions):
(p0 (at end (at rover waypoint3)))
Trajectory preferences (Conditions on the plan):
(p1 (always (>= (energy rover) 2)
(p2 (sometime (at driver costa-coffee))
(p3 (at-most-once (at truck Birmingham)))
(p4 (sometime-after (at Birmingham) (at Glasgow)))
(p5 (sometime-before (at Birmingham) (had-lunch)))
Temporal Preferences (not covered).
Metric Function:
(minimze (+ (fuel-used) (*2 (is-violated p0)) (*5 (is-violated p1)))
Planners Handling Preferences
Simple Preferences: YochanPS, Keyder & Geffner translation.
Simple and Trajectory Preferences: HPlan-P (non-numeric), LPRPG-P (propositional and numeric).
Simple, Trajectory and Temporal Preferences: Mips-XXL (numeric), OPTIC.
Competition Domains: SGPlan.
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