public:t-622-arti-07-1:program_3
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| public:t-622-arti-07-1:program_3 [2007/02/28 15:43] – hannes | public:t-622-arti-07-1:program_3 [2024/04/29 13:33] (current) – external edit 127.0.0.1 | ||
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| ====== Programming Project nr. 3: Planning ====== | ====== Programming Project nr. 3: Planning ====== | ||
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| * **Goal:** Use classic planning to make your hexapod brew a powerful elixir by bringing the right ingredients to a pot and adding them in the right order. | * **Goal:** Use classic planning to make your hexapod brew a powerful elixir by bringing the right ingredients to a pot and adding them in the right order. | ||
| * **Approach: | * **Approach: | ||
| - | * **Materials: | + | * **Materials: |
| - | * **Hand in:** Zip up your data files and any java source files that you modify | + | * **Hand in:** A short report detailing how you solved the harder problems and some run data( nodes looked at, plan make time, computer used). |
| * **Deadline: | * **Deadline: | ||
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| ==== Specifying Planning Problem in XML ==== | ==== Specifying Planning Problem in XML ==== | ||
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| + | Actions are specified thus: | ||
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| + | < | ||
| + | <action name=" | ||
| + | < | ||
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| + | </ | ||
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| + | </ | ||
| + | < | ||
| + | <add> | ||
| + | < | ||
| + | Holding(obj) | ||
| + | </ | ||
| + | </ | ||
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| + | <action name=" | ||
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| + | Holding(obj) | ||
| + | </ | ||
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| + | <add> | ||
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| + | Each action has some parameters that are used when the action is applied. In order for the action to be applicable its preconditions must be held. When the action is applied it's postconditions are applied, which are put forth as a delete and add lists. | ||
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| + | So, in the first problem listed below we can't apply the pickUp action as it's precondition " | ||
| ==== The Java Problem Solver ==== | ==== The Java Problem Solver ==== | ||
| + | The classes are split up according to their roles: | ||
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| + | The Successor class finds all the successor states available from some state s. | ||
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| + | The GoalTest class tests a SearchNode to see if it has reached the goal. | ||
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| + | The SearchNode class is a node in the search tree. It includes all the information about the states and can create a new SearchNode if an action is applied to it. | ||
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| + | BreadthFirstSearch is a simple class that searches the state space in a breadth first manner. Now, this can take a very long time, so if you wan't you can use this class as a base for a new search class. | ||
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| + | ==== Execution ==== | ||
| + | In order to execute the plans using the hexapod, we have created some new message types that you can use: | ||
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| + | " | ||
| + | " | ||
| + | " | ||
| + | " | ||
| + | " | ||
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| + | When the hexapod gets these messages it responds by sending back: | ||
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| + | " | ||
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| + | You can see an example of this in usage in the SimpleMoveController class. | ||
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| + | **Note:** The executable that starts panda has changed and now it takes as an argument the location of the goal xml file that describes the goal states. So if your xml file is at C: | ||
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| + | ==== The problems to be solved ==== | ||
| + | Here are three problems that your plan system should be able to solve. The first 2 can be solved by adding some new actions to the action list. | ||
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| + | The third one, however, is pretty complex so the breadth-first planner might get into trouble with it and not be able to solve it. So you might have to create your own planner to solve it.(HINT: You can do simple changes to the breadth-first planner so it is better in handling sequences such as " | ||
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| + | === Problem 1 === | ||
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| + | === Problem 2 === | ||
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| + | === Problem 3 === | ||
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| ===== Using the Newest Hexapod ===== | ===== Using the Newest Hexapod ===== | ||
| - | ==== UPDATE 10 feb. 2007 ==== | ||
| - | Get the new version {{public: | + | |
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| + | ==== NEW HEDAPOD VERSION HERE ==== | ||
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| + | Get the new version {{public: | ||
| + | |||
| + | **Note:** If you got an error involving world.py, this is resolved in the latest version. | ||
| ==== Keyboard shortcuts in Hexapod viewer ==== | ==== Keyboard shortcuts in Hexapod viewer ==== | ||
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