CS479/579 - Planning (Slides and Classnotes)

[IMAGE] Week 1: (1/12/04 - 1/19/04) Introduction. Please read Chapter 11, Russel and Norvig (New edition) for the next week.

[IMAGE] Week 2: (1/20/04 - 1/26/04) Review (Propositional logic, FOL, Planning Problem Representation). PDFs file: Note on propositional logic and Note on first order logic.

[IMAGE] Week 3: (1/26/04 - 2/01/04) Review (Planning as Search). PDF file: Note on search (mainly) and a Powerpoint picture of the transition graph for the domain in Example 7.1.

[IMAGE] Week 3: (2/01/04 - 2/08/04) Please read

  1. section 11.4 of chapter 11
  2. the original paper on Graph Plan by A. Blum and M. Furst, Fast Planning Through Planning Graph Analysis Artificial Intelligence, 90:281--300 (1997).
  3. the paper on heuristic planning by B. Bonet and H. Geffner, Planning as Heuristic Search.

You can download the source code of differerent planning systems from the PLANET Website. Heuristic planners can be found in this link and graph-based planners can be found in this link

Written Homework 1: Exercise 11.4 (Page 412) -- After you complete the excercise, write the description of the problem as input for your implemented system. Submit your answer through the submission website, Assignment 1, by 11:59 pm, Monday, February 9, 2004.

Here is a note on PDDL, in case you need it.

Class note by Ian and Brian is here.

[IMAGE] Week 4: (2/09/04 - 2/16/04) Please read

  1. section 11.3 of chapter 11
  2. the original paper on Least Commitment Planning by D. Weld, An Introduction to Least Commitment Planning
  3. suggested reading: Refinement Planning as a Unifying Framework for Plan Synthesis by S. Kambhampati.

Class note by Celine and Iris is here.

[IMAGE] Week 5: (2/17/04 - 2/23/04) Please read

  1. section 11.5 of chapter 11
  2. the original paper on Satisfiability Planning by H. Kautz and B. Selman, Pushing the envelope: Planning, Propositional Logic, and Stochastic Search
  3. suggested reading: Unifying SAT-Based and Graph-based Planning by H. Kautz and B. Selman. The paper Encoding Plans in Propositional Logic presents the encoding in greater detail.

Homowork 2: Prove the correctness of the SAT-encoding of planning problems that was discussed in the class. Submit your answer through the submission website, Assignment 2, by 11:59 pm, Monday, March 1, 2004.

Here is a very good solution from Tu.

Class note by Cuong and Tu is here.

[IMAGE] Week 6: (2/24/04 - 3/1/04) Please read

  1. the paper on Planning as Model Checking by F. Giunchiglia and P. Traverso Planning as Model Checking
  2. suggested reading: Planning as Model Checking - A Tutorial by Piergiorgio Bertoli, Marco Pistore and Marco Roveri (You can find this tutorial on the web by following this link)
  3. The paper Model Checking by Clark, Grumberg, and Long is a good one to understand about model checking.

Class note by Omar and Hung is here.

[IMAGE] Week 7: (3/1/04 - 3/8/04) Continue with Planning as Model Checking. If you want to know more about OBDD, read Graph-Based Algorithms for Boolean Function Manipulation by Randal E. Bryant.

Third homework: Construct a Kripke structure for the Sussman Anomaly Problem and solve the problem using model checking. Submit your answer through the submission website, Assignment 3, by 11:59 pm, Monday, March 8, 2004.

Here is a very good solution from Josep.

Class note by Omar and Hung is here.

[IMAGE] Week 8: (3/8/04 - 3/15/04) Please read

  1. Section 2, Chapter 12, Russell and Norvig Book. A copy of this section is in my mailbox. You can come by the office and make a photocopy from this.
  2. K. Erol, J. Hendler, and D. S. Nau. UMCP: A sound and complete procedure for hierarchical task-network planning. Proceedings of the International Conference on AI Planning Systems (AIPS), pp. 249-254, June 1994
  3. suggested reading: SHOP: Simple hierarchical ordered planner by D. S. Nau, Y. Cao, A. Lotem, and H. Munoz-Avila. (in Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), pp. 968-973. Morgan Kaufmann Publishers, Jul 31-August 6 1999.)
  4. The paper HTN Planning: Complexity and Expressivity is also good source for understanding HTN-planning.
Week 9: (3/15/04 - 3/22/04) We will continue with Hierarchical Planning and have the test on Thursday.

Text of the test in ps or in pdf.

Spring break

[IMAGE] Week 12: (3/29/04 - 4/5/04) Please read

  1. Using Temporal Logics to Express Search Control Knowledge for Planning by Bacchus and Kabanza.

[IMAGE] Week 13: (4/5/04 - 4/12/04) Guest speaker on 4/6. Project discussion.

[IMAGE] Week 14-15: (4/12/04 - 4/26/04) Back to temporal logics for planning. Here is an excellent set of slides from Bacchus.

[IMAGE] Week 16: (4/26/04 - 5/3/04) Planning in real-life domains. Planning with uncertainty. Here are some good papers:

  1. An Overview of Planning Under Uncertainty by Blythe.
  2. Planning and Acting in Partially Observable Stochastic Domains by Kaelbling, Littman, and Cassandra.
  3. If you are interested in this topic, the website has a lot more ...

[IMAGE] Week 17: (5/3/04 - 5/10/04) Conditional planning and conformant planning. Papers to read

  1. Planning with Sensing Actions and Incomplete Information using Logic Programming
  2. Conditional Planning Under Partial Observability As Heuristic-Symbolic Search IN Belief Space by Bertoli at al.
  3. Papers from the UofW group on planning with sensing actions

[IMAGE] Week 18: (5/11/04 - 5/18/04) Final exam week. Have fun:-)

Here is the text of the test in MS Word format or PS format or or PDF format.

[IMAGE] List of planning papers/chapters for reading: (See me for the notes of workshop)

  1. Chapter 12, Russell and Norvig
  2. Teomporal Planning with Continous Changes by Penberthy and Weld.
  3. Planning with resources by Bacchus and Ady.
  4. Reasoning about processes by Mc Dermott
  5. Planning with incomplete information by Geffner and Bonet
  6. Scheduling by Beck
  7. Planning with resources by Haslum and Geffner.
  8. Planning with incomplete information by Petric and Bacchus.
  9. Planning, Scheduling with Resources by Laborie.
  10. Bridging the gap between Planning and Scheduling
  11. Planning technique in grid computing
  12. Multiagent Planning Architecture
  13. Notes of the combined day of AIPS 2000 and KR 2000 papers
  14. Notes of the Workshop on planning as model checking
  15. Notes of the Workshop on Planning and Scheduling with Multiple Criteria
  16. Notes of the workshop on real world planning
  17. Notes of the workshop on answer set planning
  18. Related papers and systems in the PLANET Website.
Last modified: Tue May 11 17:40:27 Mountain Standard Time 2004