CS479/579 - Planning (Slides and Classnotes)
Week 1: (1/12/04 - 1/19/04)
Introduction. Please read
Chapter 11, Russel and Norvig (New edition)
for the next week.
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.
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.
Week 3: (2/01/04 - 2/08/04) Please read
- section 11.4 of chapter 11
- the original paper on Graph Plan by
A. Blum and M. Furst,
Fast Planning Through Planning Graph Analysis
Artificial Intelligence, 90:281--300 (1997).
- 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.
Week 4: (2/09/04 - 2/16/04) Please read
- section 11.3 of chapter 11
- the original paper on Least Commitment Planning by
D. Weld,
An Introduction to Least Commitment Planning
- suggested reading:
Refinement Planning as a
Unifying Framework for Plan Synthesis by S. Kambhampati.
Class note by Celine and Iris is
here.
Week 5: (2/17/04 - 2/23/04) Please read
- section 11.5 of chapter 11
- the original paper on Satisfiability Planning by
H. Kautz and B. Selman,
Pushing the envelope: Planning, Propositional Logic, and
Stochastic Search
- 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.
Week 6: (2/24/04 - 3/1/04) Please read
- the paper on Planning as Model Checking by
F. Giunchiglia and P. Traverso
Planning as Model Checking
- 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)
- 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.
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.
Week 8: (3/8/04 - 3/15/04) Please read
- 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.
- 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
- 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.)
- 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
Week 12: (3/29/04 - 4/5/04)
Please read
- Using Temporal Logics to Express Search Control
Knowledge for Planning by Bacchus and Kabanza.
Week 13: (4/5/04 - 4/12/04)
Guest speaker on 4/6. Project discussion.
Week 14-15: (4/12/04 - 4/26/04)
Back to temporal logics for planning. Here is an excellent set of
slides from Bacchus.
Week 16: (4/26/04 - 5/3/04)
Planning in real-life domains. Planning with uncertainty.
Here are some good papers:
- An Overview of Planning Under Uncertainty
by Blythe.
- Planning and Acting in Partially
Observable Stochastic Domains
by Kaelbling, Littman, and Cassandra.
- If you are interested in this topic, the website has a lot more ...
Week 17: (5/3/04 - 5/10/04)
Conditional planning and conformant planning.
Papers to read
-
Planning with Sensing Actions and Incomplete Information
using Logic Programming
-
Conditional Planning Under Partial Observability
As Heuristic-Symbolic Search IN Belief Space
by Bertoli at al.
- Papers from
the UofW group on planning with sensing actions
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.
List of planning papers/chapters for reading:
(See me for the notes of workshop)
- Chapter 12, Russell and Norvig
- Teomporal Planning with Continous Changes
by Penberthy and Weld.
- Planning with resources by Bacchus and Ady.
- Reasoning about processes by Mc Dermott
- Planning with incomplete information
by Geffner and Bonet
- Scheduling by Beck
- Planning with resources
by Haslum and Geffner.
- Planning with incomplete information
by Petric and Bacchus.
- Planning, Scheduling with Resources
by Laborie.
- Bridging the gap between Planning and
Scheduling
- Planning technique in grid computing
- Multiagent Planning Architecture
- Notes of the combined day of AIPS 2000 and KR 2000 papers
- Notes of the Workshop on planning as model checking
- Notes of the Workshop on Planning and Scheduling with Multiple
Criteria
- Notes of the workshop on real world planning
- Notes of the workshop on answer set planning
- Related papers and systems in the
PLANET Website.
Last modified: Tue May 11 17:40:27 Mountain Standard Time 2004