Blocksworld Analysis

TIM: Type Inference Mechanism - support for STAN: State Analysis Planner

D. Long and M. Fox, University of Durham

Reading domain file: domain05.pddl

Reading problem file: prob12.pddl

TIM: Domain analysis complete for simple-blocks

TIM: TYPES:

Type T0 = {table}

Type T1 = {a,b,c}

TIM: STATE INVARIANTS:

FORALL x:T1. FORALL y1. FORALL z1. on(x,y1) AND on(x,z1) => y1 = z1

FORALL x:T1. (Exists y1:T0 U T1. on(x,y1))

TIM: DOMAIN INVARIANTS:

|{(x0,x1): on(x0,x1)}| = 3

|{x0: table(x0)}| = 1

TIM: ATTRIBUTE SPACES:

Objects, x, in T0 U T1 can have property:

Objects, x, in T0 all have property:

TIM: OPERATOR PARAMETER RESTRICTIONS:

put(x1:T1,x2:T0 U T1,x3:T0 U T1,x4:T0)

puttable(x1:T1,x2:T0 U T1,x3:T0)

TIM: ADDITIONAL STATE INVARIANTS, USING SUB-STATE ANALYSIS:

FORALL x:T1. FORALL y1. FORALL z1. on(y1,x) AND on(z1,x) => y1 = z1

FORALL x:T1. (clear(x) OR Exists y1:T1. on(y1,x))

FORALL x:T1. NOT (clear(x) AND Exists y1:T1. on(y1,x))