- ...location
- The literal
(has-item) is strictly for bookkeeping (to keep track of what
tasks have been completed), and is not used for planning in any way.
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- ...location
- The representation of the
operators, for example (GOTO-PICKUP-LOC) and
(GOTO-DELIVER-LOC), is not intrinsic to the task, but it can be relevant
to planning efficiency. We have an implementation of the domain with a
single (GOTO-LOC) operator with less constrained preconditions,
which leads to more backtracking while the planner selects the correct
order of desired locations. We can also create a search control rule to
guide the planning choices; this is logically equivalent to separating the
operators, but with some additional match cost.
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- ...Executed-Ops
- For
readers more familiar with PRODIGY literature, the Executed-Ops
correspond to PRODIGY4.0's head-plan, while the plan shown in
Figure 7 corresponds to PRODIGY4.0's
tail-plan.
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