Lab03

lab03/.gitignore

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+*.acn
+*.acr
+*.alg
+*.aux
+*.bak
+*.bbl
+*.bcf
+*.blg
+*.brf
+*.bst
+*.dvi
+*.fdb_latexmk
+*.fls
+*.glg
+*.glo
+*.gls
+*.idx
+*.ilg
+*.ind
+*.ist
+*.lof
+*.log
+*.lol
+*.lot
+*.maf
+*.mtc
+*.mtc1
+*.nav
+*.nlo
+*.nls
+*.out
+*.pyg
+*.run.xml
+*.snm
+*.synctex.gz
+*.tex.backup
+*.tex~
+*.thm
+*.toc
+*.vrb
+*.xdy
+*.xml
+*blx.bib
+.bak 
+.mtc
+build/

lab03/1/domain.pddl

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+(define (domain package-transport-step6)
+  (:requirements :strips :typing :negative-preconditions :action-costs 
+                 :durative-actions :conditional-effects)
+
+  (:types
+    package
+    location
+        city airport port - location
+    vehicle
+        truck plane ship - vehicle
+  )
+
+  (:predicates
+    (at-pkg ?p - package ?l - location)
+    (at-vehicle ?v - vehicle ?l - location)
+    (in-pkg ?p - package ?v - vehicle)
+    (road-connection ?from - location ?to - location)
+    (air-connection ?from - airport ?to - airport)
+    (sea-connection ?from - port ?to - port)
+    (fragile ?p - package)
+  )
+
+  (:functions
+    (total-cost) - number
+    (travel-distance ?l1 - location ?l2 - location) - number
+    (speed ?v - vehicle) - number
+    (load-unload-fixed-time) - number
+  )
+
+  (:durative-action load-package
+    :parameters (?pkg - package ?veh - vehicle ?loc - location)
+    :duration (= ?duration (load-unload-fixed-time))
+    :condition (and
+                 (at start (at-pkg ?pkg ?loc))
+                 (at start (at-vehicle ?veh ?loc))
+               )
+    :effect (and
+              (at end (in-pkg ?pkg ?veh))
+              (at end (not (at-pkg ?pkg ?loc)))
+              ; Conditional costs
+              (when (and (at start (fragile ?pkg)))  ; If fragile
+                    (at end (increase (total-cost) 15))) ; Total load cost for fragile = 5 (base) + 10 (extra)
+              (when (and (at start (not (fragile ?pkg)))) ; If NOT fragile (requires :negative-preconditions also for conditions in 'when')
+                    (at end (increase (total-cost) 5)))
+            )
+  )
+
+  (:durative-action unload-package
+    :parameters (?pkg - package ?veh - vehicle ?loc - location)
+    :duration (= ?duration (load-unload-fixed-time))
+    :condition (and
+                 (at start (in-pkg ?pkg ?veh))
+                 (at start (at-vehicle ?veh ?loc))
+               )
+    :effect (and
+              (at end (at-pkg ?pkg ?loc))
+              (at end (not (in-pkg ?pkg ?veh)))
+              (at end (increase (total-cost) 3))
+            )
+  )
+
+  (:durative-action drive-truck
+    :parameters (?tr - truck ?from - location ?to - location)
+    :duration (= ?duration (/ (travel-distance ?from ?to) (speed ?tr)))
+    :condition (and
+                 (at start (at-vehicle ?tr ?from))
+                 (over all (road-connection ?from ?to))
+               )
+    :effect (and
+              (at start (not (at-vehicle ?tr ?from)))
+              (at end (at-vehicle ?tr ?to))
+              (at end (increase (total-cost) 10))
+            )
+  )
+
+  (:durative-action fly-plane
+    :parameters (?pl - plane ?from - airport ?to - airport)
+    :duration (= ?duration (/ (travel-distance ?from ?to) (speed ?pl)))
+    :condition (and
+                 (at start (at-vehicle ?pl ?from))
+                 (over all (air-connection ?from ?to))
+               )
+    :effect (and
+              (at start (not (at-vehicle ?pl ?from)))
+              (at end (at-vehicle ?pl ?to))
+              (at end (increase (total-cost) 100))
+            )
+  )
+
+  (:durative-action sail-ship
+    :parameters (?sh - ship ?from - port ?to - port)
+    :duration (= ?duration (/ (travel-distance ?from ?to) (speed ?sh)))
+    :condition (and
+                 (at start (at-vehicle ?sh ?from))
+                 (over all (sea-connection ?from ?to))
+               )
+    :effect (and
+              (at start (not (at-vehicle ?sh ?from)))
+              (at end (at-vehicle ?sh ?to))
+              (at end (increase (total-cost) 50))
+            )
+  )
+)

lab03/1/problem.pddl

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+(define (problem multi-modal-transport-conditional)
+  (:domain package-transport-step6)
+
+  (:objects
+    p1 - package
+    p2 - package
+
+    london paris newyork - city
+    heathrow jfk charlesdegaulle - airport
+    dover calais newyork_port - port
+
+    my_truck - truck
+    my_plane - plane
+    my_ship - ship
+    another_truck - truck
+  )
+
+  (:init
+    (= (total-cost) 0)
+    (= (load-unload-fixed-time) 1)
+
+    (= (speed my_truck) 60)
+    (= (speed another_truck) 60)
+    (= (speed my_plane) 500)
+    (= (speed my_ship) 30)
+
+    (= (travel-distance london heathrow) 30) (= (travel-distance heathrow london) 30)
+    (= (travel-distance london dover) 80) (= (travel-distance dover london) 80)
+    (= (travel-distance paris charlesdegaulle) 20) (= (travel-distance charlesdegaulle paris) 20)
+    (= (travel-distance paris calais) 150) (= (travel-distance calais paris) 150)
+    (= (travel-distance newyork jfk) 25) (= (travel-distance jfk newyork) 25)
+    (= (travel-distance newyork newyork_port) 10) (= (travel-distance newyork_port newyork) 10)
+    (= (travel-distance jfk newyork_port) 30) (= (travel-distance newyork_port jfk) 30)
+    (= (travel-distance london paris) 350) (= (travel-distance paris london) 350)
+    (= (travel-distance heathrow jfk) 3000) (= (travel-distance jfk heathrow) 3000)
+    (= (travel-distance heathrow charlesdegaulle) 300) (= (travel-distance charlesdegaulle heathrow) 300)
+    (= (travel-distance dover calais) 50) (= (travel-distance calais dover) 50)
+    (= (travel-distance calais newyork_port) 3500) (= (travel-distance newyork_port calais) 3500)
+
+    (at-pkg p1 london)
+    (fragile p1)
+
+    (at-pkg p2 jfk)
+
+    (at-vehicle my_truck london)
+    (at-vehicle my_plane heathrow)
+    (at-vehicle my_ship dover)
+    (at-vehicle another_truck newyork_port) 
+
+    (road-connection london heathrow) (road-connection heathrow london)
+    (road-connection london dover) (road-connection dover london)
+    (road-connection paris charlesdegaulle) (road-connection charlesdegaulle paris)
+    (road-connection paris calais) (road-connection calais paris)
+    (road-connection newyork jfk) (road-connection jfk newyork)
+    (road-connection newyork newyork_port) (road-connection newyork_port newyork)
+    (road-connection jfk newyork_port) (road-connection newyork_port jfk)
+    (road-connection london paris) (road-connection paris london)
+
+    (air-connection heathrow jfk) (air-connection jfk heathrow)
+    (air-connection heathrow charlesdegaulle) (air-connection charlesdegaulle heathrow)
+
+    (sea-connection dover calais) (sea-connection calais dover)
+    (sea-connection calais newyork_port) (sea-connection newyork_port calais)
+  )
+
+  (:goal
+    (and
+        (at-pkg p1 newyork)
+        (at-pkg p2 calais)
+    )
+  )
+
+  (:metric minimize (total-cost)) 
+)

lab03/2/domain.pddl

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+(define (domain cleaning-robot-world)
+  (:requirements :strips :typing :negative-preconditions)
+
+  (:types
+    robot
+    room
+  )
+
+  (:predicates
+    (at ?r - robot ?p - room)
+    (is_dirty ?p - room)
+    (is_clean ?p - room)
+    (connected ?p1 - room ?p2 - room)
+  )
+
+  (:action move
+    :parameters (?r - robot ?from_room - room ?to_room - room)
+    :precondition (and
+                    (at ?r ?from_room)   
+                    (connected ?from_room ?to_room) 
+                  )
+    :effect (and
+              (not (at ?r ?from_room))
+              (at ?r ?to_room)       
+            )
+  )
+
+  (:action clean_current_room 
+    :parameters (?r - robot ?p_to_clean - room)
+    :precondition (and
+                    (at ?r ?p_to_clean) 
+                    (is_dirty ?p_to_clean)
+                  )
+    :effect (and
+              (not (is_dirty ?p_to_clean)) 
+              (is_clean ?p_to_clean)    
+            )
+  )
+)

lab03/2/problem.pddl

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+(define (problem clean-all-rooms-task-minimal)
+  (:domain cleaning-robot-world)
+
+  (:objects
+    r1 - robot
+    p1 - room
+    p2 - room
+    p3 - room
+  )
+
+  (:init
+    (at r1 p1)
+    (is_dirty p1)
+    (is_dirty p2)
+    (is_dirty p3)
+    (connected p1 p2)
+    (connected p2 p1)
+    (connected p1 p3)
+    (connected p3 p1)
+  )
+
+  (:goal
+    (and
+        (is_clean p1)
+        (is_clean p2)
+        (is_clean p3)
+    )
+  )
+)

lab03/3/domain.pddl

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+(define (domain ball-moving-robot)
+  (:requirements :strips :typing)
+
+  (:types 
+    robot 
+    room 
+    ball 
+    arm
+  )
+
+  (:predicates
+    (at ?r - robot ?rm - room)
+    (inroom ?b - ball ?rm - room)
+    (holding ?a - arm ?b - ball)
+    (arm-empty ?a - arm)
+  )
+
+  (:action move
+    :parameters (?r - robot ?from - room ?to - room)
+    :precondition (at ?r ?from)
+    :effect (and 
+              (not (at ?r ?from)) 
+              (at ?r ?to)
+            )
+  )
+
+  (:action pick-up
+    :parameters (?r - robot ?a - arm ?b - ball ?rm - room)
+    :precondition (and 
+                    (at ?r ?rm) 
+                    (inroom ?b ?rm) 
+                    (arm-empty ?a)
+                  )
+    :effect (and 
+              (holding ?a ?b) 
+              (not (arm-empty ?a)) 
+              (not (inroom ?b ?rm))
+            )
+  )
+
+  (:action put-down
+    :parameters (?r - robot ?a - arm ?b - ball ?rm - room)
+    :precondition (and 
+                    (at ?r ?rm) 
+                    (holding ?a ?b)
+                  )
+    :effect (and 
+              (inroom ?b ?rm) 
+              (arm-empty ?a) 
+              (not (holding ?a ?b))
+            )
+  )
+)

lab03/3/problem.pddl

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+(define (problem move-balls-task3)
+  (:domain ball-moving-robot)
+
+  (:objects
+    room1 room2 - room
+    robot1 - robot
+    ball1 ball2 ball3 ball4 - ball
+    arm1 arm2 - arm
+  )
+
+  (:init
+    (at robot1 room1)
+    (inroom ball1 room1)
+    (inroom ball2 room1)
+    (inroom ball3 room1)
+    (inroom ball4 room1)
+    (arm-empty arm1)
+    (arm-empty arm2)
+  )
+
+  (:goal
+    (and
+      (inroom ball1 room2)
+      (inroom ball2 room2)
+      (inroom ball3 room2)
+      (inroom ball4 room2)
+    )
+  )
+)