MATAKULIAH INTELIGENSIA SEMU

|PLANNING}

Clasical Paradigm (Serial)

Environment
Target/ Goal

Sense

Model

Plant

Act

Planning
Planning dalam Artificcial Intelligent (AI) adalah bagaimana kita merencanakan setiap langkah untuk mengatasi masalah-masalah yang sewaktu-waktu dapat terjadi dalam suatu pengembangan sistem kecerdasan buatan. Cara yang kita pakai untuk mendapatkan sebuah goal atau solusi pemecahan masalah. Selain itu adapula yang kita sebut sebagai Classical Planning yang mencakup ke semua ruang lingkup, determinasi, observasi dan diskrit dimana hal tersebut berhubungan dengan waktu, tindakan serta efek yang di timbulkan dalam pencarian suatu cara,suatu keputusan atau solusi terbaik.

Planning
1. Employ to avoid calculation of the entire problem state when we move from one state to the next (consider only parts of the state that may have changed) 2. Decomposition : divide a single difficult problem into several, hopefully easier, sub-problems.

So what is planning
1. In everyday usage, planning refers to the process of computing several steps of a problem solving procedures before executing any of them 2. To be more specific, planning is the use of decomposition methods including ways of recording and handling interaction among the subparts

Examples of Planning Systems

Spacecraft assembly, integration and verification Job shop scheduling Space mission scheduling Building construction Operations on a flight deck of an aircraft carrier For demos: blocks world

State of the Art

Planning and scheduling: NASA Game playing: Deep Blue Autonomous control: ALVINN Diagnosis Logistics planning: DART Robotics: HipNav Language understanding and problem-solving: PROVERB

Boeing Company

Boeing 787 Dreamliner.

Aurora Intelligent Planning & Scheduling System

Scheduling vs. Planning

Planning is deciding what to do. Scheduling is deciding when to do it.

Contoh Planning

The Blocks World

Operator : UNSTACK(A,B) Ambil block A dari posisi saat ini di atas block B. Arm (tangan) harus empty (kosong) dan block A harus kosong di atasnya. STACK(A,B) Tempatkan block A di atas block B. Arm harus sudah holding (memegang) A dan permukaan B harus clear (kosong). PICKUP(A) Ambil block A dari meja dan pegang. Arm harus empty dan harus tidak ada apa-apa di atas block A. PUTDOWN(A) Letakkan block A ke atas meja. Arm harus sudah holding block A.

The Block World

Predicates : ON (A,B) Block A is on block B ONTABLE (A) Block A is on the table CLEAR (A) There is nothing on top of block A HOLDING (A) The arm is holding block A ARMEMPTY The arm is holding nothing

Components of a Planning System

1. Choose the best rule to apply next based on the best available heuristic information (examine representation) 2. Applying rules (divide and conquer) : (If actions only affect small parts of state, solve sub-goal independently and merge subplans)
A B C D

Problem : Sub-goals can interfere

A B A B C C

Getting A on B interferes with getting B on C We might even have to undo satisfied subgoals, e.g. : A A B B C C

STRIPS -Style Operator

1. STACK(x,y) : place x on y, the arm must already be holding x and the surface of y must be clear 1. P : CLEAR(y) HOLDING(x) 2. D : CLEAR(y) HOLDING(x) 3. A : ARMEMPTY ON(x,y) 2. UNSTACK(x,y) : pick up x from y, the arm must be empty and x must have no blocks on top of it 1. P : ON(x,y) CLEAR(y) ARMEMPTY 2. D : ON(x,y) ARMEMPTY 3. A : HOLDING(x) CLEAR(y) STRIPS, STanford Research Institute Planning Systems

STRIPS-Style Operator(contd)
3. PICKUP(x) : pick up x from the table and hold it. The arm must be empty and there must be nothing on top of block x. P : CLEAR(x) ONTABLE(x) ARMEMPTY D : ONTABLE(x) ARMEMPTY A : HOLDING(x) 4. PUTDOWN(x) : put x down on the table, the arm must have been holding x P : HOLDING(x) D : HOLDING(x) A : ONTABLE(x) ARMEMPTY

P, Precondition ; D, Deletion ; A, Add (list).

A simple blocks world description

A B ON(A,B,S0) ONTABLE(B,S0) CLEAR(A,S0)

Applying operator UNSTACK(A,B), our description of the world would be:

ONTABLE(B,S1) CLEAR(A,S1) CLEAR(B,S1) HOLDING (A,S1)

Goal Stack Planning

B A C D C A B D

Start :
ON(B,A) ONTABLE(A) ONTABLE(C) ONTABLE(D) ARMEMPTY

Goal:
ON(C,A) ON (B,D) ONTABLE(A) ONTABLE(D)

Planning Solution
B A C D

C A

B D

UNSTACK(B,A) STACK(B,D) PICKUP(C) STACK(C,A)

Divide & Conquer

C A B D

(1)
ON(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD

(2)
ON(B,D) ON(C,A) ON(C,A) ON(B,D) ONTAD

Alternative 1
ON(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD
SUB-GOALS

CLEAR(A) HOLDING(C) ON(B,D) ON(C,A) ON(B,D) ONTAD

B A C D

Goal Stack Planning

CLEAR(A)
HOLDING(C)

ON(B,D) ON(C,A) ON(B,D) ONTAD

UNSTACK(B,A) ON(B,A) CLEAR(B) ARMEMPTY HOLDING(C) CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD

ONTABLE(A) ONTABLE(C) ONTABLE(D) HOLDING(B) CLEAR(A)

database

Goal Stack Planning

PICKUP(C)
ON(B,A) CLEAR(B) ARMEMPTY UNSTACK(B,A)

HOLDING(C)
CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD

UNSTACK(C,x)

Goal Stack Planning

PICKUP(C) ONTABLE(C) CLEAR(C) ARMEMPTY CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD UNSTACK(C,x) ON (C,x) CLEAR(C) ARMEMPTY CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD

(1)

(2)

Goal Stack Planning

ON (C,x)
CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD

CLEAR(x) HOLDING(C) STACK(C,x) ON (C,x) CLEAR(C) ARMEMPTY UNSTACK(C,x) CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD

Goal Stack Planning (back to alternative 1)

C A B D UNSTACK(B,A) has been called at the beginning

PICKUP(C) ONTABLE(C) CLEAR(C) ARMEMPTY ONTABLE(C) (satisfied) CLEAR(C) (satisfied) ARMEMPTY (false since HOLDING(B) is true)

B
CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD

Goal Stack Planning (alternative 1)

C A B D Database updated
ONTABLE(A) ONTABLE(C) ONTABLE(D) ON(B,D) ARMEMPTY

CLEAR(D) HOLDING(B) CLEAR(D) HOLDING(B) STACK(B,D) ONTABLE(C) CLEAR(C) ARMEMPTY PICKUP(C) CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) (done, using stack(B,D) ON(C,A) ON(B,D) ONTAD

Now satisfied

Goal Stack Planning (alternative 1)

ON(B,A) CLEAR(B) ARMEMPTY ON(B,A) CLEAR(B) ARMEMPTY UNSTACK(B,A) CLEAR(D) HOLDING(B) CLEAR(D) HOLDING(B) STACK(B,D) ONTABLE(C) CLEAR(C) ARMEMPTY ONTABLE(C) CLEAR(C) ARMEMPTY PICKUP(C) CLEAR(A) HOLDING(C) STACK(C,A) ON(B,D) ON(C,A) ON(B,D) ONTAD

B A C D

C A

B D

UNSTACK(B,A) STACK(B,D) PICKUP(C) STACK(C,A)

Another Problem
C A B

A B C

Start :
ON(C,A) ONTABLE(A) ONTABLE(B) ARMEMPTY

Goal :
ON(A,B) ON(B,C)

Two (2) Solution

C A B A B C

ON(A,B) ON(B,C) ON(A,B) ON(B,C)

ON(B,C) ON(A,B) ON(A,B) ON(B,C)

(1)

(2)

C A B ON(C,A) CLEAR(C) ARMEMPTY UNSTACK(C,A) ARMEMPTY CLEAR(A) ARMEMPTY PICKUP(A) CLEAR(B) HOLDING(A) STACK(A,B) ON(B,C) ON(A,B) ON(B,C)

A B C

A C B

Goal stack: ON(B,C) ON(A,B) ON(B,C) Current state: ONTABLE(B) ON(A,B) ONTABLE(C) ARMEMPTY

ON(C,A) CLEAR(C) ARMEMPTY UNSTACK(C,A) ARMEMPTY CLEAR(A) ARMEMPTY PICKUP(A) CLEAR(B) HOLDING(A) STACK(A,B) ON(B,C) ON(A,B) ON(B,C)

A C B

UNSTACK(C,A) ARMEMPTY (PUTDOWN(C)) PICKUP(A) STACK(A,B) ON(B,C) ON(A,B) ON(B,C) UNSTACK(C,A) PUTDOWN(C) PICKUP(A) STACK(A,B) UNSTACK(A,B) PUTDOWN(A) PICKUP(B) STACK(B,C) ON(A,B) ON(B,C)

B C A

CHECK

B C A

A B C

UNSTACK(C,A) PUTDOWN(C) PICKUP(A) STACK(A,B) UNSTACK(A,B) PUTDOWN(A) PICKUP(B) STACK(B,C) PICKUP(A) STACK(A,B)

UNSTACK(C,A) PUTDOWN(C) PICKUP(B) STACK(B,C) PICKUP(A) STACK(A,B)

Blocks World
PickUp(X) X on table, hand empty, X free PutDown(X) X in hand Stack(X,Y) X in hand, y free
Goal State

Initial State

Unstack(X,Y) X free, X on Y, hand free

A B

Blocks World (cont)

Partial Ordered Planning Introduction

A partially ordered plan is a general representation of plans. Idea: Working parallel on several sub-goals. Ordering of goals based on interactions Underlying assumption: Not many interactions. Partially ordered plan = directed graph (AND).

Partial Ordered Planning An Example

STRIPS (cont)

Figure 10.1. STRIPS representation for (1) opening a door (2) closing a door.

STRIPS Example

Figure 10.2. Example of STRIPS Planning (Operator Schema & Initial Model).

STRIPS Example

(cont)

Figure 10.3. Example of STRIPS Planning (Goal wff and Plan).

 Goal stack planning dalam tree

GOAL ONTABLE(D) ONTABLE(A)

ON(C,A) STACK(C,A)

ON(B,D)

CLEAR(A) UNSTACK(B,A) PICKUP(C) CLEAR(B) ARMEMPTY

HOLDING(C)

UNSTACK(C,A) ARMEMPTY CLEAR(C)

ON(B,A)

ARMEMPTY ONTABLE(C) CLEAR(C)

ON(C,A) STACK(C,A)

STACK(B,D)

PUTDOWN(B)

CLEAR(A)

HOLDING(C)

CLEAR(D)

HOLDING(B)

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Linear Planning (Goal Stack)

C A B

Start State (KB) : Ontable(A), On(C,A), Clear(C), Ontable(B), Clear(B), Empty, Ontable(A), Ontable(B),

On(C,A) Clear(C) Empty

Unstack(C,A)

Holding (C)

Clear(A) A

Putdown(C) Empty

B C

Ontable(C)

Clear(C)

On(B,C)

On(A,B)

Clear(A) Empty

GOAL
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C A B

Start State : Empty, Ontable(A), On(C,A), Clear(C), Ontable(B), Clear(B) Ontable(A), Ontable(B),

Empty

On(C,A)

Clear(C) Empty

Clear(B) Ontable(B)

Unstack(C,A)

Holding (C)

Clear(A)

Pickup(B) Holding(B) Clear(C)

Putdown(C) Empty Stack(B,C) Empty Clear(B)

Ontable(C)

Clear(C)

On(B,C)

On(A,B)

Clear(A) Empty

GOAL
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C A B

Start State : Empty, Ontable(A), On(C,A), Clear(C), Ontable(B), Clear(B) Ontable(A), Ontable(B),

Empty

On(C,A)

Clear(C) Empty

Clear(B) Ontable(B) Ontable(A) Empty Clear(A)

Unstack(C,A)

Holding (C)

Clear(A)

Pickup(B) Holding(B) Clear(C)

Pickup(A) Clear(B)

Putdown(C) Empty Stack(B,C)

Holding(A)

Stack(A,B) Clear(B) Empty

Ontable(C)

Clear(C)

On(B,C)

On(A,B)

Clear(A)

Empty

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Kasus 1
C A
Start : ON(C,A) ONTABLE(A) ONTABLE(B) ARMEMPTY Goal : ON(A,B) ON(B,C)

A B B C

Kasus 2

A Very Simple Blocks World Problem

B A

E D

B A C

E D

Kasus 3

A Very Simple Blocks World Problem

C B

E D

A B C

D E

 Buatlah suatu urutan logika perencanaan Jika saudara diminta membuat Planning jadwal take off 5 buah pesawat (no. pes. 1, 2, 3, 4, dan 5) yang sedang parkir di hanggar setelah diperbaiki. Kondisi awal urutan parkir pesawat 3, 2, 4, 5, dan 1 Target pesawat take off dengan urutan 1, 2, 3, 4, dan 5 Jika perlu tambahkan suatu informasi/ kondisi
3 2 4 5 1 5 4 3 2 1 Initial State Goal State

AI Planning Is Different in Practice Than it Was in Theory

Unstack(x,y) Pre: on(x,y), clear(x), handempty Del: on(x,y), clear(x), handempty Add: holding(x), clear(y) Theory: Symbolic computations (STRIPS operators) Single agent (the planner) Perfect information Practice: Complex numeric computations (geometry, images, probabilities) Multiple agents Imperfect information, external information sources

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