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planning-problems.lisp
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(in-package "OSCAR")
(make-planning-problem-list
(make-planning-problem
:number 1
:message "A simple non-linear planning problem"
:goal "(at-school son)"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
simplify-=>
:premises
("(at-home son)" .99)
("(needs-battery car)" .99)
("(auto-repair-shop shop)" .99)
("have-money" .99)
("have-phone-book" .99)
("~have-telephone" .99)
("((& ~have-telephone ask-phone-company-for-telephone) => have-telephone)" 1.0)
("(all x)(all y)((& (& (at-home x) (works y)) (drive-to-school x y)) => (& (at-school x) ~(at-home x)))" 1.0)
("(all y)(all z)((& (& (auto-repair-shop z) (needs-battery y) (knows-problem z)) (installs-battery-in z y)) =>
(& (works y) ~(needs-battery y)))" 1.0)
("(all z)((& (in-communication-with z) (instruct z)) => (knows-problem z))" 1.0)
("(all z)((& (& (know-phone-number z) have-telephone) (telephone z)) => (in-communication-with z))" 1.0)
("(all z)((& have-phone-book (look-up-number z)) => (know-phone-number z))" 1.0)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 2
:message "Defeat by undermining subgoals"
:goal "(at-school son)"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan
embellished-protoplan-for-goal
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
:premises
("(at-home son)" .99)
("(needs-battery car)" .99)
("(auto-repair-shop shop)" .99)
("have-money" .99)
; ("(in-communication-with shop)" .99)
("have-phone-book" .99)
("(have-possession-of car)" .99)
("(all x)(all y)((& (& (at-home x) (works y) (have-possession-of y)) (drive-to-school x y)) => (& (at-school x) ~(at-home x)))" 1.0)
("(all y)(all z)((& (& ~(have-possession-of y) (works y) have-money (fixed z y)) (pay-for-repair-of y z)) => (have-possession-of y))" 1.0)
("(all y)(all z)((& (& (auto-repair-shop z) (needs-battery y) (knows-problem z y)) (installs-battery-in z y)) => (& (works y) ~(needs-battery y) (fixed z y)))" 1.0)
("(all z)(all y)((& (& (auto-repair-shop z) (in-communication-with z) ) (instruct-to-fix z y)) => (& (knows-problem z y) ~(have-possession-of y)))" 1.0)
("(all z)((& (know-phone-number z) (telephone z)) => (in-communication-with z))" 1.0)
("(all z)((& have-phone-book (look-up-number z)) => (know-phone-number z))" 1.0)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 3
:message
:goal "(know-beethoven-birthday & know-time)"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
:premises
("at-library" .99 nil t)
("((& at-library ask-librarian) => know-beethoven-birthday)" .99 nil t)
("((& at-clock read-clock) => know-time)" .99 nil t)
("((& at-library go-to-clock) => (& at-clock ~at-library))" .99 nil t)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 4
:message "Quantified version of 3."
:goal "((know-beethoven-birthday Horatio) & (know-time Horatio))"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
:premises
("(at-library Horatio)" .99)
("(all x)((& (at-library x) (ask-librarian x)) => (know-beethoven-birthday x))" .99)
("(all x)((& (at-clock x) (read-clock x)) => (know-time x))" .99)
("(all x)((& (at-library x) (go-to-clock x)) => (& (at-clock x) ~(at-library x)))" .99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 5
:message "Adds ordering constraints."
:goal "~target-alive"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
:premises
("target-alive" .99)
("at-bar" .99)
("have-gun" .99)
("see-man" .99)
("((& (& see-target gun-is-loaded) aim-and-shoot) => ~target-alive)" .99)
("((& see-man get-directions) => know-location)" .99)
("((& (& at-alley know-location) go-to-target) => (& ~at-alley see-target))" .99)
("((& (& have-gun have-bullets) load-gun) => gun-is-loaded)" .99)
("((& at-alley get-bullets) => have-bullets)" .99)
("((& at-bar go-to-alley) => (& at-alley ~see-man ~at-bar))" .99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 6
:message "The Sussman anomoly"
:goal "((on A B) & (on B C))"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
:premises
("(on-table B)" .99)
("(on-table A)" .99)
("(on C A)" .99)
("(clear C)" .99)
("(clear B)" .99)
("~(clear A)" .99)
("(all x)(all y)((& (& (clear x) (clear y)) (move x y)) => (& ~(clear y) (on x y)))" .99)
("(all x)(all y)((& (& (on x y) (clear x)) (move-to-table x)) => (& (clear y) (on-table x)))" .99)
("(all x)(all y)(all z)((& (& (on x y) (clear x) (clear z)) (move x z)) => (clear y))" .99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 8
:message ""
:goal "have-food"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
REUSE-NODES
REUSE-NODE
protoplan-for-goal
REUSE-PLANS
simplify-=>
; =>-adjunction
; =>-neg1
; =>-neg2
undermine-causal-links
undermine-embedded-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
add-embedded-ordering-constraints
:premises
("~have-money" .99)
("~have-food" .99)
("~at-store" .99)
("((& ~have-money beg) => have-money)" .99)
("((& (at-store & have-money) buy-food) => (& have-food ~have-money))" .99)
("((& (~at-store & have-money) take-bus) => (& at-store ~have-money))" .99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 9
:message ""
:goal "have-food"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
REUSE-NODES
REUSE-NODE
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
undermine-embedded-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
add-embedded-ordering-constraints
:premises
("~have-money" .99)
("~have-food" .99)
("~at-store" .99)
("possess-item1" .99)
("possess-item2" .99)
("((& (& ~have-money possess-item1) sell-item1) => (& have-money ~possess-item1))" .99)
("((& (& ~have-money possess-item2) sell-item2) => (& have-money ~possess-item2))" .99)
("((& (at-store & have-money) buy-food) => (& have-food ~have-money))" .99)
("((& (~at-store & have-money) take-bus) => (& at-store ~have-money))" .99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 10
:message ""
:goal "fired"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
REUSE-NODES
REUSE-NODE
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
undermine-embedded-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
add-embedded-ordering-constraints
:premises
("lever-left" .99)
("~cocked" .99)
("((& ~lever-left push-left) => lever-left)" .99)
("((& (~lever-left & cocked) push-left) => (fired & ~cocked))" .99)
("((& (~lever-left & ~cocked) push-left) => cocked)" .99)
("((& lever-left push-right) => ~lever-left)" .99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 11
:message ""
:goal "fired"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
REUSE-NODES
REUSE-NODE
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
undermine-embedded-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
add-embedded-ordering-constraints
:premises
("lever-left" .99)
("~cocked1" .99)
("~cocked2" .99)
; ("((& (lever-right & ~cocked2) push-left) => (lever-left & ~lever-right))" .99)
("((& lever-right push-left) => (lever-left & ~lever-right))" .99)
("((& (~lever-left & cocked2) push-left) => (fired & ~cocked2))" .99)
("((& (lever-right & ~cocked1) push-left) => cocked1)" .99)
("((& (& lever-right cocked1 ~cocked2) push-left) => (cocked2 & ~cocked1))" .99)
("((& lever-left push-right) => (lever-right & ~lever-left))" .99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 12
:message "One of Scott's problems. "
:goal "know-your-birthdate"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
REUSE-NODES
REUSE-NODE
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
undermine-embedded-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
add-embedded-ordering-constraints
:premises
("in-garage" .99)
("see-box" .99)
("((& in-garage go-in-house) => (& see-key in-house ~in-garage ~outside ~see-box))" .99)
("((& in-garage go-outside) => (& outside ~in-house ~in-garage ~see-box ~see-key))" .99)
("((& see-key get-key) => have-key)" .99)
("((& in-house go-to-garage) => (& in-garage ~in-house ~outside see-box ~see-key))" .99)
("((& (& have-key see-box) open-box) => have-document)" .99)
("((& (& have-document outside) read-document) => know-your-birthdate)"
.99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 14
:message "Pednault's briefcase example."
:goal "((at-office briefcase) & (at-home paycheck))"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
REUSE-NODES
REUSE-NODE
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
undermine-embedded-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
add-embedded-ordering-constraints
confrontation
embedded-confrontation
:premises
("(at-home briefcase)" .99)
("(at-home paycheck)" .99)
("(in-briefcase paycheck)" .99)
("(all x)((& (in-briefcase x) (remove-from-briefcase x)) => ~(in-briefcase x))" .99)
("((& (at-home briefcase) take-briefcase-to-office) => (at-office briefcase))" .99)
("(all x)((& (& (at-home briefcase) (in-briefcase x)) take-briefcase-to-office) => ~(at-home x))" .99)
)
(SOLVE-PLANNING-PROBLEM)
(make-planning-problem
:number 13
:message "Flat tire problem for planner 44"
:goal
"(& ( on wheel2 hub)
~( is-open boot))"
:reasons
protoplan
null-plan
goal-regression
split-conjunctive-goal
REUSE-NODES
REUSE-NODE
protoplan-for-goal
REUSE-PLANS
simplify-=>
=>-adjunction
=>-neg1
=>-neg2
undermine-causal-links
undermine-embedded-causal-links
plan-undermines-first-causal-link
plan-undermines-another-causal-link
plan-undermines-causal-link
embellished-protoplan-for-goal
embellished-protoplan
embedded-null-plan
split-embedded-conjunctive-goal
embedded-goal-regression
add-ordering-constraints
add-embedded-ordering-constraints
confrontation
embedded-confrontation
:premises
("( wheel wheel1)" .99)
("( wheel wheel2)" .99)
("( isa-hub hub)" .99)
("( are-nuts nuts)" .99)
("( container boot)" .99)
("( intact wheel2)" .99)
("( in jack boot)" .99)
("( in pump boot)" .99)
("( in wheel2 boot)" .99)
("( in wrench boot)" .99)
("( on wheel1 hub)" .99)
("( on-ground hub)" .99)
("( tight nuts hub)" .99)
("~( locked boot)" .99)
("~( is-open boot)" .99)
("~( inflated wheel2)" .99)
("~( unfastened hub)" .99)
("(all x)( ((( container x) & (~( locked x) & ~( is-open x))) & ( open-up x)) => ( is-open x))" .99)
("(all x)( ((( container x) & ( is-open x)) & ( close x)) => ~( is-open x))" .99)
("(all x)(all y)( ((( container y) & (( in x y) & ( is-open y))) & ( fetch x y)) => (( have x) & ~( in x y)))" .99)
("(all x)(all y)( ((( container y) & (( have x) & ( is-open y))) & ( put-away x y)) => (~( have x) & ( in x y)))" .99)
("(all x)(all y)( ((( are-nuts x) & (( isa-hub y) & (( have wrench) & (( tight x y) & ( on-ground y))))) & ( loosen x y)) => (( loose x y) & ~( tight x y)))" .99)
("(all x)(all y)( ((( are-nuts x) & (( isa-hub y) & (( have wrench) & (( loose x y) & ( on-ground y))))) & ( tighten x y)) => (( tight x y) & ~( loose x y)))" .99)
("(all x)( ((( isa-hub x) & (( on-ground x) & ( have jack))) & ( jack-up x)) => (~( on-ground x) & ~( have jack)))" .99)
("(all x)( ((( isa-hub x) & ~( on-ground x)) & ( jack-down x)) => (( on-ground x) & ( have jack)))" .99)
("(all x)(all y)( ((( are-nuts x) & (( isa-hub y) & (~( on-ground y) & (~( unfastened y) & (( have wrench) & ( loose x y)))))) & ( undo x y)) => (( have x) & (( unfastened y) & (~( on x y) & ~( loose x y)))))" .99)
("(all x)(all y)( ((( are-nuts x) & (( isa-hub y) & (~( on-ground y) & (( unfastened y) & (( have wrench) & ( have x)))))) & ( do-up x y)) => (( loose x y) & (~( unfastened y) & ~( have x))))" .99)
("(all x)(all y)( ((( wheel x) & (( isa-hub y) & (~( on-ground y) & (( on x y) & ( unfastened y))))) & ( remove-wheel x y)) => (( have x) & (( wheeless y) & ~( on x y))))" .99)
("(all x)(all y)( ((( wheel x) & (( isa-hub y) & (( have x) & (( wheeless y) & (( unfastened y) & ~( on-ground y)))))) & ( put-on-wheel x y)) => (( on x y) & (~( have x) & ~( wheeless y))))" .99)
("(all x)( ((( wheel x) & (( have pump) & (~( inflated x) & ( intact x)))) & ( inflate x)) => ( inflated x))" .99)
)
)