📊 Graphplan & Plan Space Planning
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# 📊 Graphplan & Plan Space Planning ## 1. 🎯 Learning Objectives - Build planning graphs with action and proposition layers - Identify mutex pairs: competing needs, inconsistent effects, interference, resource conflict - Explain plan space planning: partial plans, flaws, threats ## 2.
📊 Graphplan & Plan Space Planning
1. 🎯 Learning Objectives
- Build planning graphs with action and proposition layers
- Identify mutex pairs: competing needs, inconsistent effects, interference, resource conflict
- Explain plan space planning: partial plans, flaws, threats
2. 📖 Core Content
3.1 Planning Graph
Alternating layers: P₀ → A₁ → P₁ → A₂ → P₂ → ... Proposition layer: True facts. Action layer: Actions whose preconditions are in previous proposition layer + no-op actions.
3.2 Mutex Types
| Type | Definition | Example |
|---|---|---|
| Competing needs | Preconditions are mutex | Need A and need ¬A |
| Inconsistent effects | One adds P, other deletes P | stack(A,B) and unstack(A,B) |
| Interference | One deletes other's precondition | putdown(A) deletes holding(A) |
| Resource conflict | Both need same resource | Both need armEmpty |
3.3 Plan Space Planning
Partial plan: (A, O, L, B) where A=actions, O=ordering, L=causal links, B=bindings. Flaw: Open condition or threat. Promotion: Put threatening action before protected link. Demotion: Put threatening action after protected link.
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