aiddl-test.planning.temporal.elevator.domain.aiddl Maven / Gradle / Ivy

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Provides common types and algorithm implementations for the fast prototyping integrative AI systems with the AIDDL framework.

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;; AIDDL version of the International Planning Competition (IPC) domain
;; 'Elevators' as a temporal planning problem
;; (http://www.icaps-conference.org/index.php/Main/Competitions)
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(#mod self org.aiddl.test.planning.temporal.elevator)

(#req SVP org.aiddl.common.planning.state-variable)

(#req TP org.aiddl.common.planning.temporal)

(IntervalOperator@SVP move
  (name : (move ?e ?f1 ?f2)
   id   : ?ID
   interval  : (move ?ID)
   preconditions :
    {
      ((P1 ?ID) (liftAt ?e) ?f1)
      ((P2 ?ID) (reachable ?f2 ?e) true)
    }
   effects :
    {
      ((E1 ?ID) (liftAt ?e) ?f2)
    }
   constraints :
    {
      temporal :
        {
          (duration (move ?ID) [10 10])
          (meets (P1 ?ID) (E1 ?ID))
          (during (move ?ID) (P2 ?ID) [1 +INF] [1 +INF])
          (meets (move ?ID) (E1 ?ID))
        }
    }
))
      
(IntervalOperator@SVP board
  (name : (board ?p ?e ?f)
   id   : ?ID
   interval    : (board ?ID)
   preconditions :
    {
      ((P1 ?ID) (liftAt ?e)      ?f)
      ((P2 ?ID) (passengerAt ?p) ?f)
    }
   effects :
    {
      ((E1 ?ID) (passengerAt ?p) ?e)
    }
    constraints :
    {
      temporal :
        {
          (duration (board ?ID) [2 2])
          (meets (P2 ?ID) (E1 ?ID))
          (during (board ?ID) (P1 ?ID) [1 +INF] [1 +INF])
          (meets (board ?ID) (E1 ?ID))
        }
    }
  )
)

(IntervalOperator@SVP leave
  (name : (leave ?p ?e ?f)
   id   : ?ID
   interval  : (leave ?ID)
   preconditions :
    {
      ((P1 ?ID) (liftAt ?e)      ?f)
      ((P2 ?ID) (passengerAt ?p) ?e)
    }
   effects :
    {
      ((E1 ?ID) (passengerAt ?p) ?f)
    }
   constraints :
    {
      temporal :
        {
          (duration (leave ?ID) [2 2])
          (meets (P2 ?ID) (E1 ?ID))
          (during (leave ?ID) (P1 ?ID) [1 +INF] [1 +INF])
          (meets (leave ?ID) (E1 ?ID))
        }
    }
  )
)

(Operators@SVP O { $move $board $leave })