80328129 intelegensia semu planning

7/28/2019 80328129 Intelegensia Semu Planning

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MATAKuliah

Inteligensia Semu

PLANNING


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Clasical Paradigm(Serial)

Envir

onment

Sense Model Plant Act

Targe

t/Goal


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Planning

Planning dalam Artificcial Intelligent (AI) adalahbagaimana kita merencanakan setiap langkah untukmengatasi masalah-masalah yang sewaktu-waktu dapatterjadi dalam suatu pengembangan sistem kecerdasanbuatan.

Cara yang kita pakai untuk mendapatkan sebuah goal

atau solusi pemecahan masalah. Selain itu adapula yang kita sebut sebagai Classical

Planning yang mencakup ke semua ruang lingkup,determinasi, observasi dan diskrit dimana hal tersebutberhubungan dengan waktu, tindakan serta efek yang

di timbulkan dalam pencarian suatu cara,suatukeputusan atau solusi terbaik.


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Planning

1. Employ to avoid calculation of the entire problemstate when we move from one state to the next(consider only parts of the state that may havechanged)

2. Decomposition : divide a single difficult probleminto several, hopefully easier, sub-problems.


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So what is planning

1. In everyday usage, planning refers to the

process of computing several steps of aproblem solving procedures beforeexecuting any of them

2. To be more specific, planning is the use ofdecomposition methods including ways ofrecording and handling interaction amongthe subparts


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Examples of Planning Systems

Spacecraft assembly, integration and verification

Job shop scheduling

Space mission scheduling

Building construction

Operations on a flight deck of an aircraft carrier For demos: blocks world


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State of the Art

Planning and scheduling: NASA

Game playing: Deep Blue

Autonomous control: ALVINN

Diagnosis Logistics planning: DART

Robotics: HipNav

Language understanding and problem-solving:PROVERB


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Boeing Company

Boeing 787 Dreamliner.

Aurora Intelligent Planning & Scheduling System
http://www.stottlerhenke.com/news/pr_aurora_boeing.htm


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Scheduling vs. Planning

Planning is deciding what to do.Scheduling is deciding when to do it.


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Contoh Planning


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The Blocks World

Operator : UNSTACK(A,B) Ambil block A dari posisi saat ini di

atas block B. Arm (tangan) harus empty (kosong) danblock A harus kosong di atasnya.

STACK(A,B) Tempatkan block A di atas block B.Arm harus sudah holding (memegang) A danpermukaan B harus clear (kosong).

PICKUP(A) Ambil block A dari meja dan pegang.

Arm harus empty dan harus tidak ada apa-apa di atasblock A.

PUTDOWN(A) Letakkan block A ke atas meja. Armharus sudah holding block A.


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The Block World

Predicates : ON (A,B) Block A is on block B

ONTABLE (A) Block A is on the table

CLEAR (A) There is nothing on top of block A

HOLDING (A) The arm is holding block A

ARMEMPTY The arm is holding nothing


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Components of a Planning System

1. Choose the best rule to apply next based on

the best available heuristic information(examine representation)

2. Applying rules (divide and conquer) :(If

actions only affect small parts of state,solve sub-goal independently and merge sub-plans)

A B C D

A

DB

C


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Problem : Sub-goals can interfere

A B C

A

B

C

Getting A on B interferes with getting B on C

We might even have to undo satisfied sub-

goals, e.g. :

A

B C

A

B

C


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STRIPS -Style Operator1. STACK(x,y) : place x on y, the arm must already be

holding x and the surface of y must be clear

1. P : CLEAR(y) HOLDING(x)2. D : CLEAR(y) HOLDING(x)3. A : ARMEMPTY ON(x,y)

2. UNSTACK(x,y) : pick up x from y, the arm must beempty and x must have no blocks on top of it

1. P : ON(x,y) CLEAR(y) ARMEMPTY

2. D : ON(x,y) ARMEMPTY3. A : HOLDING(x) CLEAR(y)

STRIPS, STanford Research Institute Planning Systems


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STRIPS-Style Operator(contd)

3. PICKUP(x) : pick up x from the table and hold it.The arm must be empty and there must be nothing

on top of block x.

P : CLEAR(x) ONTABLE(x) ARMEMPTY

D : ONTABLE(x) ARMEMPTYA : HOLDING(x)

4. PUTDOWN(x) : put x down on the table, the armmust have been holding x

P : HOLDING(x)

D : HOLDING(x)A : ONTABLE(x) ARMEMPTY

P, Precondition ; D, Deletion ; A, Add (list).


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A simple blocks world description

AB

ON(A,B,S0) ONTABLE(B,S0) CLEAR(A,S0)

Applying operator UNSTACK(A,B), ourdescription of the world would be:

ONTABLE(B,S1) CLEAR(A,S1) CLEAR(B,S1)

HOLDING (A,S1)


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Goal Stack Planning

AB

C DC

DAB

Start :ON(B,A) ONTABLE(A) ONTABLE(C)

ONTABLE(D) ARMEMPTY

Goal:ON(C,A) ON (B,D) ONTABLE(A)

ONTABLE(D)


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Planning Solution

UNSTACK(B,A)STACK(B,D)PICKUP(C)

STACK(C,A)

C

DA

B

A

B

C D


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Divide & Conquer

C

DA

B

ON(C,A)

ON(B,D)

ON(C,A) ON(B,D)

ONTAD

ON(B,D)

ON(C,A)

ON(C,A) ON(B,D) ONTAD

(1) (2)


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Alternative 1

ON(C,A)

ON(B,D)


STACK(C,A)ON(B,D)


CLEAR(A)HOLDING(C)

ON(B,D)

ON(C,A) ON(B,D) ONTADSUB-GOALS

A

B

C D


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Goal Stack Planning

UNSTACK(B,A)

ON(B,A) CLEAR(B) ARMEMPTYHOLDING(C)

CLEAR(A) HOLDING(C)STACK(C,A)

ON(B,D)ON(C,A) ON(B,D) ONTAD

ONTABLE(A) ONTABLE(C) ONTABLE(D) HOLDING(B) CLEAR(A) database

CLEAR(A)

HOLDING(C)

ON(B,D)

ON(C,A)

ON(B,D)

ONTAD


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Goal Stack Planning

PICKUP(C)

UNSTACK(C,x)

ON(B,A) CLEAR(B) ARMEMPTYUNSTACK(B,A)

HOLDING(C)CLEAR(A) HOLDING(C)STACK(C,A)

ON(B,D)



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Goal Stack Planning

PICKUP(C)

ONTABLE(C) CLEAR(C) ARMEMPTY


ON(B,D)


UNSTACK(C,x)

ON (C,x) CLEAR(C) ARMEMPTY


ON(B,D)


(1) (2)


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Goal Stack Planning

ON (C,x)CLEAR(A) HOLDING(C)STACK(C,A)

ON(B,D)


CLEAR(x) HOLDING(C)STACK(C,x)

ON (C,x) CLEAR(C) ARMEMPTY

UNSTACK(C,x)CLEAR(A) HOLDING(C)STACK(C,A)

ON(B,D)



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Goal Stack Planning (back to alternative 1)

PICKUP(C)

ONTABLE(C) CLEAR(C) ARMEMPTYONTABLE(C) (satisfied)

CLEAR(C) (satisfied)

ARMEMPTY (false since HOLDING(B) is true)


ON(B,D)


C

DA

B

UNSTACK(B,A) has beencalled at the beginning

A

B

C D


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Goal Stack Planning(alternative 1)

CLEAR(D)

HOLDING(B)

CLEAR(D) HOLDING(B)STACK(B,D)


PICKUP(C)CLEAR(A) HOLDING(C)STACK(C,A)

ON(B,D) (done, using stack(B,D)


C

DA

B

ONTABLE(A) ONTABLE(C) ONTABLE(D) ON(B,D) ARMEMPTY

Now satisfied

Database updated

G l St k Pl i ( l i 1)


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Goal Stack Planning(alternative 1)

UNSTACK(B,A)

STACK(B,D)PICKUP(C)

STACK(C,A)

C

DA

B

ON(B,A)

CLEAR(B)

ARMEMPTY

ON(B,A) CLEAR(B) ARMEMPTYUNSTACK(B,A)

CLEAR(D)

HOLDING(B)

CLEAR(D) HOLDING(B)

STACK(B,D)ONTABLE(C)

CLEAR(C)

ARMEMPTY


PICKUP(C)CLEAR(A) HOLDING(C)STACK(C,A)

ON(B,D)


A

B

C D

An th P bl m


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Another Problem

C

A

B

A B

C

Start :

ON(C,A) ONTABLE(A) ONTABLE(B) ARMEMPTY

Goal :

ON(A,B) ON(B,C)


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Two (2) Solution

C

A

B

ON(A,B)

ON(B,C)

ON(A,B) ON(B,C)

ON(B,C)

ON(A,B)

ON(A,B) ON(B,C)

(1) (2)

A B

C


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C

A

B

ON(C,A)CLEAR(C)ARMEMPTYUNSTACK(C,A)ARMEMPTYCLEAR(A) ARMEMPTYPICKUP(A)CLEAR(B) HOLDING(A)STACK(A,B)ON(B,C)ON(A,B) ON(B,C)

A B

C


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C

A

B

Goal stack:

ON(B,C)

ON(A,B)

ON(B,C)

Current state:

ONTABLE(B) ON(A,B) ONTABLE(C) ARMEMPTY

ON(C,A)

CLEAR(C)

ARMEMPTY

UNSTACK(C,A)

ARMEMPTY

CLEAR(A) ARMEMPTYPICKUP(A)

CLEAR(B) HOLDING(A)STACK(A,B)

ON(B,C)

ON(A,B) ON(B,C)


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C

A

B

UNSTACK(C,A)ARMEMPTY (PUTDOWN(C))

PICKUP(A)STACK(A,B)ON(B,C)ON(A,B) ON(B,C)

C A

BUNSTACK(C,A)PUTDOWN(C)PICKUP(A)STACK(A,B)UNSTACK(A,B)

PUTDOWN(A)PICKUP(B)STACK(B,C)ON(A,B) ON(B,C)CHECK


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C A

B

UNSTACK(C,A)PUTDOWN(C)PICKUP(A)STACK(A,B)UNSTACK(A,B)

PUTDOWN(A)PICKUP(B)STACK(B,C)PICKUP(A)STACK(A,B)

C

A

B

UNSTACK(C,A)PUTDOWN(C)PICKUP(B)

STACK(B,C)PICKUP(A)STACK(A,B)


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Blocks World

PickUp(X) X on table, hand empty, X free

PutDown(X) X in hand

Stack(X,Y) X in hand, y free

Unstack(X,Y) X free, X on Y, hand free

A B

Initial State

A

B

Goal State


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Blocks World (cont)

P i l O d d Pl i


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Partial Ordered PlanningIntroduction

A partially ordered plan is a general representationof plans.

Idea:

Working parallel on several sub-goals.

Ordering of goals based on interactions

Underlying assumption:

Not many interactions.

Partially ordered plan = directed graph (AND).

Partial Ordered Planning


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Partial Ordered PlanningAn Example


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STRIPS (cont)

Figure 10.1. STRIPS representation for (1) opening a door (2) closing a door.


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STRIPS Example

Figure 10.2. Example of STRIPS Planning(Operator Schema & Initial Model).


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STRIPS Example (cont)

Figure 10.3. Example of STRIPS

Planning (Goal wff and Plan).


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Goal stack planning dalam tree


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1/15/2011 T0264 - Artificial Intelligence 44

Goal stack planning dalam tree

ONTABLE(D)

CLEAR(C)

ARMEMPTYONTABLE(C)CLEAR(C)

ARMEMPTY

ON(C,A)

STACK(C,A)

CLEAR(D) HOLDING(B)

GOAL

ON(C,A)ON(B,D)

ONTABLE(A)

CLEAR(A)

UNSTACK(B,A)

HOLDING(C)

PICKUP(C) UNSTACK(C,A)

ON(B,A)CLEAR(B)

ARMEMPTY

CLEAR(A) HOLDING(C)STACK(B,D) PUTDOWN(B)

STACK(C,A)

Linear Planning (Goal Stack)


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On(B,C)

Start State (KB) : Ontable(A), On(C,A), Clear(C), Ontable(B), Clear(B), Empty,

Empty

Unstack(C,A)

On(C,A) Clear(C)

Clear(C)

Holding (C)

GOAL

Putdown(C)

Linear Planning (Goal Stack)

C

A B

On(A,B)

Empty

Empty

Ontable(C)

Clear(A)

Clear(A)

C

A

B


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On(B,C)

Start State : Empty, Ontable(A), On(C,A), Clear(C), Ontable(B), Clear(B)

Stack(B,C)

Empty

Unstack(C,A)

On(C,A) Clear(C)

Clear(B)EmptyClear(C)

Holding(B)

Pickup(B)

Ontable(B)

Clear(B)

Empty

Holding (C)

GOAL

Putdown(C)

C

A B

On(A,B)

Empty

Empty

Ontable(C)

Clear(C)

Clear(A)

Clear(A)


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On(B,C)

Start State : Empty, Ontable(A), On(C,A), Clear(C), Ontable(B), Clear(B)

Stack(B,C)

Empty

Unstack(C,A)

On(C,A) Clear(C)

Clear(B)EmptyClear(C)

Holding(B)

Pickup(B)

Ontable(B)

Clear(B)

Empty

Holding (C)

GOAL

Putdown(C)

C

A B

Stack(A,B)

On(A,B)Clear(A)

Clear(B)Holding(A)

Pickup(A)

Empty

Ontable(A)

Clear(A)

Empty

Empty

Ontable(C)

Clear(C)

Clear(A)

K 1


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Kasus 1

C

A

BA B

C

Start :

ON(C,A)

ONTABLE(A) ONTABLE(B) ARMEMPTY

Goal :

ON(A,B) ON(B,C)


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A Very Simple Blocks World Problem

BB E A E

A C D C D

Kasus 2


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A Very Simple Blocks World Problem

AC E B D

B A D C E

Kasus 3


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Buatlah suatu urutan logika perencanaan

Jika saudara diminta membuat Planningjadwal take off 5 buah pesawat (no. pes. 1,2, 3, 4, dan 5) yang sedang parkir di hanggarsetelah diperbaiki. Kondisi awal urutan parkir

pesawat 3, 2, 4, 5, dan 1 Target pesawat take offdengan urutan 1, 2,

3, 4, dan 5

Jika perlu tambahkan suatu informasi/kondisi

3 2 4 5 1 5 4 3 2 1

Initial State Goal State

AI Planning Is Different in Practice


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AI Planning Is Different in PracticeThan it Was in Theory

Unstack(x,y)Pre: on(x,y), clear(x), handempty

Del: on(x,y), clear(x), handempty

Add: holding(x), clear(y)

Theory:

Symbolic computations(STRIPS operators)

Single agent (the planner)

Perfect information

Practice:

Complex numeric computations(geometry, images, probabilities)

Multiple agents

Imperfect information, external

information sources


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