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a3.pl
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a3.pl
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https://powcoder.com
代写代考加微信 powcoder
Assignment Project Exam Help
Add WeChat powcoder
https://powcoder.com
代写代考加微信 powcoder
Assignment Project Exam Help
Add WeChat powcoder
% Primitive actions
primitive_action(go(X, Y, R)).
primitive_action(push(B, X, Y, R)).
primitive_action(climbUp(X, B)).
primitive_action(climbDown(B, X)).
primitive_action(turnOn(S, B)).
primitive_action(turnOff(S, B)).
% Successor State Axioms for Primitive Fluents.
changeLocAction(go(_, _, _)).
changeLocAction(push(_, _, _, _)).
changeLocAction(climbUp(_, _)).
robotLoc(L, do(A,S)):-
A = go(_, L, _); % robot in L when go to L
A = push(_, _, L, _); % robot in L when push box to L
A = climbDown(_, L); % robot in L when climb down box to L
not(changeLocAction(A)), robotLoc(L,S). % robot in L when previous in l and not changing position
boxLoc(B, L, do(A,S)):-
A = push(B, _, L, _); % robot in L when push box to L
not(A = push(B, _, _, _)), boxLoc(B, L, S). % robot in L when previous to L and not push to other location
onTop(B, do(A,S)):-
A = climbUp(_, B); % onTop when clim up to box
not(A = climbDown(B, _)), onTop(B, S). % onTop when previous onTop and not climbDown
up(Switch, do(A,S)):-
A = turnOn(Switch, _); % up when turn on
not(A = turnOff(Switch, _)), up(Switch, S). % up when previous up and not turn off
lightOn(Light, do(A,S)):-
controls(Switch, Light),
A = turnOn(Switch, _). % light on when switch up
lightOn(Light, do(A,S)):-
controls(Switch, Light),
not(A = turnOff(Switch, _)), % light on when previous on and not turn off
up(Switch, S).
% Preconditions for Primitive Actions.
poss(go(X, Y, R),S) :-
X \= Y,
in(X, R), % X in room R
in(Y, R), % Y in room R
robotLoc(X, S). % robot in X
poss(push(B, X, Y, R), S):-
X \= Y,
in(X, R), % X in room R
in(Y, R), % Y in room R
boxLoc(B, X, S), % box in X
robotLoc(X, S). % robot in X
poss(climbUp(X, B), S):-
boxLoc(B, X, S), % box in X
robotLoc(X, S), % robot in X
not(onTop(B, S)). % robot not on box
poss(climbDown(B, X), S):-
boxLoc(B, X, S), % box in X
onTop(B, S). % robot on box
poss(turnOn(Switch, B), S):-
not(up(Switch, S)), % switch not up
boxLoc(B, Loc, S), % box in loc
switchLoc(Switch, Loc), % switch in loc
onTop(B, S). % robot on box
poss(turnOff(Switch, B), S):-
up(Switch, S), % switch up
boxLoc(B, Loc, S), % box in loc
switchLoc(Switch, Loc), % switch in loc
onTop(B, S). % robot on box
% entity type
isBox(box1).
isBox(box2).
isBox(box3).
isBox(box4).
isRoom(room1).
isRoom(room2).
isRoom(room3).
isRoom(room4).
isRoom(corridor).
isDoor(door1).
isDoor(door2).
isDoor(door3).
isDoor(door4).
% Initial Situation.
boxLoc(box1, locInitBox1, s0).
boxLoc(box2, locInitBox2, s0).
boxLoc(box3, locInitBox3, s0).
boxLoc(box4, locInitBox4, s0).
in(locInitBox1, room1).
in(locInitBox2, room1).
in(locInitBox3, room1).
in(locInitBox4, room1).
switchLoc(switch1, switch1Loc).
switchLoc(switch2, switch2Loc).
switchLoc(switch3, switch3Loc).
switchLoc(switch4, switch4Loc).
in(switch1Loc, room1).
in(switch2Loc, room2).
in(switch3Loc, room3).
in(switch4Loc, room4).
controls(switch1, light1).
controls(switch2, light2).
controls(switch3, light3).
controls(switch4, light4).
in(door1, room1).
in(door1, corridor).
in(door2, room2).
in(door2, corridor).
in(door3, room3).
in(door3, corridor).
in(door4, room4).
in(door4, corridor).
robotLoc(locInitRobot, s0).
in(locInitRobot, room1).
% definition of executable (legal) situation
executable(s0).
executable(do(A,S)) :- poss(A,S), executable(S).
%% goal of having Box2 in Room2
goalB(S):-
boxLoc(box2, L, S),
in(L, room2).
%% plan that achieve the goal of having Box2 in Room2
planB(Plan):-
Plan = do(push(box2, door2, switch2Loc, room2), do(push(box2, door1, door2, corridor), do(push(box2, locInitBox2, door1, room1), do(go(locInitRobot, locInitBox2, room1), s0)))).
%% test plan is executable (legal) and achieves the goal
testB(Plan):-
planB(Plan),
executable(Plan),
goalB(Plan).
%% planB(Plan), executable(Plan), goalB(Plan).
%% check all lights on
checkAllLightsON(S):-
lightOn(light1, S),
lightOn(light2, S),
lightOn(light3, S),
lightOn(light4, S).
turnUpSwitch(Switch, do(climbDown(B, Loc), do(turnOn(Switch, B), do(climbUp(Loc, B), S)))):-
switchLoc(Switch, Loc),
pushBoxToLoc(S, B, Loc).
pushBoxToLoc(S, B, Loc):-
boxLoc(B, Loc, S),
!.
pushBoxToLoc(do(A, S) , B, Loc):-
boxLoc(B, BoxLoc, S),
in(BoxLoc, R),
in(Loc, R),
A = push(B, BoxLoc, Loc, R).
allLightsOn(S):-
checkAllLightsON(S),
executable(S).
%% forward filtering fluent Acceptable
%% go is the acceptable action when
%% robot is not at the box2 position
acceptable(go(_, _, _), S):-
boxLoc(box2, BoxLoc, S),
robotLoc(RoLoc, S),
BoxLoc \= RoLoc.
%% %% !,
%% A = .
%% push is the acceptable action when
%% robot is not at the position
acceptable(push(box2, BoxLoc, _, _), S):-
boxLoc(box2, BoxLoc, S),
robotLoc(BoxLoc, S).
%% goal fluent
goal(S):-
goalB(S).
% Restore suppressed situation arguments.
restoreSitArg(goal,S,goal(S)).
restoreSitArg(acceptable(A),S,acceptable(A,S)).
restoreSitArg(robotLoc(L),S,robotLoc(L,S)).
restoreSitArg(boxLoc(B, L),S,boxLoc(B, L,S)).
restoreSitArg(onTop(B),S,onTop(B, S)).
restoreSitArg(up(Switch),S,up(Switch, S)).
restoreSitArg(lightOn(B),S,lightOn(B, S)).
show_act_seq(s0).
show_act_seq(do(A,S)):- show_act_seq(S), write(A), nl.
runE:- do(idPlan(1000),s0,S), show_act_seq(S).