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completed main parallel planning encodings for STRIPS instances

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mgebser 2016-11-14 16:56:51 +01:00
parent b8357629a2
commit 888f12d88d
1 changed files with 37 additions and 17 deletions
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54
encodings/strips/strips-incremental.lp
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@ -1,19 +1,32 @@
#include <incmode>. % Constant '_parallel' to enable parallel actions
% - value '1': "forall" parallel actions that can be arranged in any sequence
% - value '2': "exists" parallel actions that can be arranged in some sequence
% - otherwise: sequential actions
#const _parallel = 0. #const _parallel = 0.
#include <incmode>.
% BASE PROGRAM % BASE PROGRAM
% Define relevant fluents w.r.t. parallel mode % Define auxiliary predicates for actions w.r.t. parallel mode
diverge(A1,A2,X) :- active(A1), active(A2), A1 < A2, postcondition(A1,X,V), diverge(A1,A2,X) :- active(A1), active(A2), A1 < A2, postcondition(A1,X,V),
has_condition(A2,X,1), not postcondition(A2,X,V), has_condition(A2,X,1), not postcondition(A2,X,V),
_parallel = 1 : _parallel != 2. _parallel = 1 : _parallel != 2.
diverge(A1,A2) :- diverge(A1,A2,X), _parallel = 1. diverge(A1,A2) :- diverge(A1,A2,X).
exclude(A1,A2) :- diverge(A1,A2), precondition(A1,X,V), exclude(A1,A2) :- diverge(A1,A2), precondition(A1,X,V), _parallel = 1,
has_condition(A2,X,0), not precondition(A2,X,V). has_condition(A2,X,0), not precondition(A2,X,V).
disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V),
_parallel = 2, not diverge(A1,A2), not diverge(A2,A1).
scope(X,V) :- active(A), precondition(A,X,V), _parallel = 2.
% Define relevant fluents w.r.t. parallel mode
fluent(X,V) :- produce(X,V). fluent(X,V) :- produce(X,V).
fluent(X,V) :- persist(X,V). fluent(X,V) :- persist(X,V).
fluent(X,V) :- initialState(X,V), fluent(X). fluent(X,V) :- initialState(X,V), fluent(X).
@ -23,15 +36,15 @@ fluent(X) :- diverge(A1,A2,X), not exclude(A1,A2).
% Define unsubsumed mutexes % Define unsubsumed mutexes
mutex(G,V) :- mutexGroup(G), contains(G,X,V), fluent(X,V). mutex(G,X) :- mutexGroup(G), contains(G,X,V), fluent(X,V).
mutex(G) :- mutexGroup(G), #count{V : mutex(G,V)} > 1. mutex(G) :- mutexGroup(G), #count{X : mutex(G,X)} > 1.
% Define initial state % Define initial state
holds(X,V,0) :- initialState(X,V), fluent(X). holds(X,V,0) :- initialState(X,V), fluent(X).
:- fluent(X), #count{V : holds(X,V,0) } > 1. :- fluent(X), #count{V : holds(X,V,0)} > 1.
:- mutex(G), #count{X,V : holds(X,V,0), contains(G,X,V) } > 1. :- mutex(G), #count{X,V : holds(X,V,0), contains(G,X,V)} > 1.
% STEP PROGRAM % STEP PROGRAM
@ -41,9 +54,9 @@ holds(X,V,0) :- initialState(X,V), fluent(X).
1 {holds(X,V,t) : fluent(X,V)} 1 :- fluent(X). 1 {holds(X,V,t) : fluent(X,V)} 1 :- fluent(X).
:- mutex(G), #count{X,V : holds(X,V,t), contains(G,X,V) } > 1. :- mutex(G), #count{X,V : holds(X,V,t), contains(G,X,V)} > 1.
change(X,t) :- holds(X,V,t), not holds(X,V,t-1). change(X,t) :- holds(X,V,t-1), not holds(X,V,t).
% Generate actions % Generate actions
@ -55,21 +68,28 @@ effect(X,t) :- occurs(A,t), postcondition(A,X,V), fluent(X), not precondition(A,
:- change(X,t), not effect(X,t). :- change(X,t), not effect(X,t).
% Check w.r.t. parallel mode % Checks w.r.t. parallel mode
:- _parallel != 1, _parallel != 2, #count{A : occurs(A,t)} > 1. :- _parallel != 1, _parallel != 2, #count{A : occurs(A,t)} > 1.
:- _parallel != 2, occurs(A,t), precondition(A,X,V), not holds(X,V,t-1). :- _parallel != 2, occurs(A,t), precondition(A,X,V), not holds(X,V,t-1).
invariant(X,t) :- occurs(A,t), precondition(A,X,V), _parallel = 1, :- _parallel = 1, occurs(A,t), precondition(A,X,V), not has_condition(A,X,1), not holds(X,V,t).
not has_condition(A,X,1).
:- invariant(X,t), effect(X,t). single(X,t) :- occurs(A,t), precondition(A,X,V), _parallel = 1,
has_condition(A,X,1), not postcondition(A,X,V).
singleton(X,t) :- occurs(A,t), precondition(A,X,V), _parallel = 1, :- single(X,t), #count{A : occurs(A,t), postcondition(A,X,V), not precondition(A,X,V)} > 1.
has_condition(A,X,1), not postcondition(A,X,V).
:- singleton(X,t), #count{A : occurs(A,t), postcondition(A,X,V), not precondition(A,X,V) } > 1. proceed(X,V,t) :- holds(X,V,t-1), scope(X,V).
proceed(X,V,t) :- occurs(A,t), postcondition(A,X,V), scope(X,V), not precondition(A,X,V),
perform(A,t).
perform(A1,t) :- active(A1), _parallel = 2, not occurs(A1,t).
perform(A1,t) :- active(A1), _parallel = 2,
proceed(X,V,t) : precondition(A1,X,V); perform(A2,t) : disable(A1,A2).
:- _parallel = 2, active(A), not perform(A,t).
% CHECK PROGRAM % CHECK PROGRAM