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Merge pull request #2 from mgebser/strips

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improved strips encodings
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Patrick Lühne 2017-08-09 17:19:35 +02:00 committed by GitHub
commit a24ce91acb
2 changed files with 18 additions and 7 deletions
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14
encodings/strips/redundancy.lp
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@ -15,8 +15,12 @@ compatible(A) :- active(A), active(A1), A != A1, _parallel = 1, not selfdefea
disable(A,A1,A2) :- compatible(A,A1), compatible(A,A2), compatible(A1,A2),
disable(A1,A2), not disable(A1,A).
disabled(A,A2) :- disable(A,A1,A2).
disabled(A,A1) :- compatible(A), disable(A,A1).
disabled(A,A2) :- simulate(A,A1), disable(A,A1,A2).
simulate(A,A1) :- compatible(A,A1), not disable(A1,A), disabled(A,A1).
simulate(A,A1) :- compatible(A,A1), not disable(A1,A), scope(X,V),
postcondition(A1,X,V), not precondition(A1,X,V).
% STEP PROGRAM
@ -30,15 +34,15 @@ defeated(A,t) :- compatible(A), precondition(A,X,V), not has_condition(A,X,1), n
defeated(A,t) :- compatible(A), has_condition(A,X,1), not has_condition(A,X,0), single(X,t).
proceed(A,X,V,t) :- compatible(A), holds(X,V,t-1), scope(X,V).
proceed(A,X,V,t) :- compatible(A,A1), not disable(A1,A), perform(A,A1,t), occurs(A1,t),
scope(X,V), postcondition(A1,X,V), not precondition(A1,X,V).
proceed(A,X,V,t) :- simulate(A,A1), perform(A,A1,t), occurs(A1,t), scope(X,V),
postcondition(A1,X,V), not precondition(A1,X,V).
perform(A,A1,t) :- compatible(A,A1), not disable(A1,A),
perform(A,A1,t) :- simulate(A,A1),
proceed(A,X,V,t) : precondition(A1,X,V), _parallel = 2;
alright(A,A2,t) : disable(A,A1,A2).
alright(A,A1,t) :- disabled(A,A1), not occurs(A1,t).
alright(A,A1,t) :- perform(A,A1,t).
alright(A,A1,t) :- disabled(A,A1), perform(A,A1,t).
defeated(A,t) :- compatible(A), precondition(A,X,V), not proceed(A,X,V,t), _parallel = 2.
defeated(A,t) :- compatible(A), disable(A,A1), not alright(A,A1,t).

11
encodings/strips/strips-incremental.lp
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@ -7,6 +7,12 @@
#const _parallel = 0.
% Constant '_shallow' to cheaply approximate mutually disabling parallel actions
% - value '0': detect incompatible pre/postconditions to reduce parallel actions
% - otherwise: over-approximate parallel actions (in testing mutual disablement)
#const _shallow = 0.
% Constant 'planner_on' to enable encoding support for ASP-based planner
% - value '0': no compatibility to ASP-based planner (no idle steps permitted)
% - otherwise: compatibility to ASP-based planner (idle steps permitted)
@ -22,12 +28,12 @@ selfdefeat(A,X) :- active(A), precondition(A,X,V), _parallel = 1,
diverge(A1,A2,X) :- active(A1), active(A2), postcondition(A1,X,V),
has_condition(A2,X,1), not postcondition(A2,X,V),
0 < _parallel, _parallel < 5.
0 < _parallel, _parallel < 5, _shallow = 0.
diverge(A1,A2) :- diverge(A1,A2,X).
exclude(A1,A2) :- active(A1), active(A2), precondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V),
0 < _parallel, _parallel < 5, _parallel != 2.
0 < _parallel, _parallel < 5, _parallel != 2, _shallow = 0.
disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V),
@ -46,6 +52,7 @@ fluent(X,V) :- initialState(X,V), fluent(X).
fluent(X,V) :- active(A), postcondition(A,X,V), fluent(X).
fluent(X) :- fluent(X,V).
fluent(X) :- diverge(A1,A2,X), not exclude(A1,A2).
fluent(X) :- active(A), has_condition(A,X,1), 0 < _parallel, _parallel < 5, _shallow != 0.
% Define unsubsumed mutexes