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The “Logic” of Reachability David E. Smith Ari K. Jónsson. Apologies. No results ideas & formalism Adverse reactions “Logic”. Outline. Background & Motivation Simple Reachability Mutual Exclusion “Practical Matters”. Expand plan graph Derive mutex relationships - PowerPoint PPT Presentation
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The “Logic” of ReachabilityDavid E. Smith
Ari K. Jónsson
Apologies
No resultsideas & formalism
Adverse reactions
“Logic”
Outline
Background & Motivation
Simple Reachability
Mutual Exclusion
“Practical Matters”
Graphplan
Expand plan graph
Derive mutex relationships
If goals are present & consistentsearch for a solution
Graphplan
Expand plan graph
Derive mutex relationships
If goals are present & consistentsearch for a solution
Reachability!(optimistic achivability)
Why Reachability?
Pruning¬reachable ¬achievable
Guidancedistance
TGP
ActionsReal durationConcurrent
Thrust
comlink
Heater
closevalve
TGP Limitations
ActionsPreconditions hold throughoutEffects occur at endAffected propositions undefined during
No exogenous conditions
A eff1
eff2
pre2
pre1
Monotonicity of Reachability
Propositions & actions monotonically increase
¬x
…
x
p
q
¬x
…
x
p
q
¬x
…
A
B
A
B
x
p
q
¬x
r
…
B
A
C
0 1 2 3
Monotonicity of Mutex
Mutex relationships monotonically decrease
x
p
q
¬x
…
x
p
q
¬x
…
A
B
A
B
x
p
q
¬x
r
…
B
A
C
0 1 2 3
¬x
…
Cyclic Plan Graph
x1
p1
q1
¬x0
r3
…
A0
B0
C2
Propositions Actions
Earliest start times
x1
p1
q1
¬x0
r3
…
A0
B0
C2
Cyclic Plan Graph
22
Propositions Actions
Earliest end time
Impact?
ActionsPreconditions hold throughoutEffects occur at endAffected propositions undefined during
Exogenous Conditions
Closed(SJC)t=0600z t=1300z
–5A +5A
A
≥5A
Apre2 cond3
pre1
eff
Windows of Reachability
Propositions Actions
A[0,3],[6,9]
B[11,]
C[…]…
…
p[0,5],[8.1,16]
q[2,17]…
r[3,]…
…
Windows of Mutex
A[0,3],[6,9]
B[11,]
C[…]…
…
p[0,5],[8.1,16]
q[2,17]…
r[3,]…
…
Propositions Actions
[0,3]x[3,4]
[0,3]x[11,]
[3,4]x[11,]
Action Model
Duration
Parallel
(pre) Conditions over intervals
Effects over intervals–5A +5A
A
≥5A
Acond2 cond3
cond1
eff
Acond: r;0, p;[0,2]
eff: r;(0,2), r;2,
e;2r
A
r
p
e
¬ r
Semantics
Acond: r;0, p;[0,2]eff: r;(0,2), r;2,
e;2
A
r
p
e
P stops holding
¬ r r
Semantics
Acond: r;0, p;[0,2]eff: r;(0,2), r;2,
e;2r
A
r
p
e
p stops holding
¬ r
Incomplete
?????????
???
Exogenous Conditions
At(Pkg1, BOS-PO)
At(Truck1, BOS)
Inititial Conditionst=0
Closed(SJC)t=0600z t=1300z
Visible(NGC132)t=0517z t=0642z
Xcond:eff: At(Pkg1, BOS-PO);0
At(Truck1, BOS);0Closed(SJC);[0600,1300]Visible(NGC132);
[0517,0642]…
Outline
Motivation
Simple Reachability
Mutual Exclusion
Practical Matters
Possibility & Reachability
(p;t) p is logically possible at t
∆(p;t) p is reachable at t
(rich;tomorrow)¬∆(rich;tomorrow)
Possibility & Reachability
(p;t) p is logically possible at t
∆(p;t) p is reachable at t
(p;i) t i (p;t)
∆(p;i) t i ∆ (p;t)
Extend to Intervals
Basic Axioms
p;i ∆(p;i)
p;i (p;i)
p;i t i ¬∆(¬p;t)
p;i t i ¬(¬p;t)
Negations are not …
Facts are possible & reachable
∆(p;t) (p;t q;t’) ∆(q;t’)
Transitivity
Basic Axioms
a;t Cond(a;t) Eff(a;t)
X;0
Actions
Exogenous conditions
Closure of X
(Eff(x;0) = ¬p;t) — (p;i)|\ |
Example
0 1 2 3 4 5 6
r
p pX;0
Closure
0 1 2 3 4 5 6
r
p p
p p
r
X;0
closure
Basic
0 1 2 3 4 5 6
r
p p
∆ r
∆p ∆ p
p p
r
X;0
basic
closure
Persistence
∆(p;i) meets(i,j) (p;j) ∆(p;i||j)
0 1 2 3 4 5 6
r
p p
∆ r
∆p ∆ p
p p
r
X;0
basic
closure
Persistence
∆(p;i) meets(i,j) (p;j) ∆(p;i||j)
0 1 2 3 4 5 6
r
p p
p p
r
X;0
closure
∆p ∆p
∆ rbasic &persist
Actions
∆Cond(a;t) Eff(a;t) ∆(a;t)
Reachability
∆p1;i1 … ∆pn;in ∆(p1;i1 … pn;in)
Conjunctive optimism
Action Application
0 1 2 3 4 5 6
∆p ∆p
∆ r
∆A
r
A
r
p
e
¬ r
Acond: r;0, p;[0,2]
eff: r;(0,2), r;2,
e;2
∆Cond(a;t) Eff(a;t) ∆(a;t)
Action Application
0 1 2 3 4 5 6
∆p ∆p
∆ r
∆A
∆ ¬ r
r
A
r
p
e
¬ r
∆ e
Acond: r;0, p;[0,2]
eff: r;(0,2), r;2,
e;2
∆Cond(a;t) Eff(a;t) ∆(a;t)
Persistence Again
∆(p;i) meets(i,j) (p;i) ∆(p;i||j)
0 1 2 3 4 5 6
∆p ∆p
∆ r
∆A
∆ ¬ r
r
A
r
p
e
¬ r
∆ e
Persistence (revised)
∆(p;i) meets(i,j) (p;i) ∆(p;i||j)
a;t ∆(a;t) p;i PersistEff(a;t) meets(i,j) (p;i) ∆(p;i||j)
r
A
rp
e
¬ r
Persistence
0 1 2 3 4 5 6
∆p ∆p
∆ r
∆A
∆ ¬ r
∆ e
a;t ∆(a;t) p;i PersistEff(a;t) meets(i,j) (p;i) ∆(p;i||j)
Outline
Motivation
Simple Reachability
Mutual Exclusion
Practical Matters
Mutual Exclusion
M(p1;t1, …, pn;tn)
M(p1;i1, …, pn;nn)
t1 i1, …, tn in M(p1;t1, …, pn;tn)
(∆p1;i1 … ∆pn;in ) ¬M(p1;i1, …, pn;nn) ∆(p1;i1 … pn;in)
Conjunctive optimism
Intervals
Logical Mutex
M(p;t, ¬p;t)
Consequences
¬(1 … n) M(1, …, n)
Consequences
M(A;t, ¬p;t+)
Consequences
Acond: p; …
eff: e;
…
A;t p;t+
A;t e;t+e
M(A;t, ¬e;t+)
¬(1 … n) M(1, …, n)
Consequences
¬(1 … n) M(1, …, n)
M(A;t, B;t+–)
Consequences
Acond: p; …
A;t p;t+
B;t ¬p;t+eBcond: ¬p; …
Implication Mutex
M(1, …, n) ( 1) M(, …, n)
Implication Mutex Example
M(1, …, n) (1 1) M(1, …, n)
Example
B cond:q;0eff:f;1
M(1, …, n) ( 1) M(, …, n)
M(p;1,q;1)
A cond:p;0eff:e;1
p;1
q;1
A;1
B;1
e;2
f;2
Implication Mutex Example
M(1, …, n) (1 1) M(1, …, n)
Example
B cond:q;0eff:f;1
p;1
q;1
A;1
B;1
e;2
f;2
M(1, …, n) ( 1) M(, …, n)
M(p;1,q;1)
A cond:p;0eff:e;1
A;t p;t
B;t q;t
Implication Mutex Example
M(1, …, n) (1 1) M(1, …, n)
Example
B cond:q;0eff:f;1
p;1
q;1
A;1
B;1
e;2
f;2
M(1, …, n) ( 1) M(, …, n)
M(p;1,q;1)
A cond:p;0eff:e;1
A;t p;t
B;t q;t
M(A;1,q;1)
M(p;1,B;1)
Implication Mutex Example
M(1, …, n) (1 1) M(1, …, n)
Example
B cond:q;0eff:f;1
p;1
q;1
A;1
B;1
e;2
f;2
M(1, …, n) ( 1) M(, …, n)
M(p;1,q;1)
A cond:p;0eff:e;1
A;t p;t
B;t q;t
M(A;1,q;1)
M(p;1,B;1)
M(A;1,B;1)
Implication Mutex for Intervals
M(1, …, n) ( 1) M(, …, n)
M(1;i1, …, n;in) j= {t: ;t t1 i1 1;t1}
M(;j, …, n;in)
p;[1,3)
q;[2,3)
A;[1,3)
B;[2,3)
e;…
f;…
Explanatory Mutex
{( 1) M(, …, n)} M(1, …, n)
If “all ways of proving” 1 are mutex with 2, …, n M(1, …, n)
p;1
q;1
A;1
B;1
e;2
f;2
A
Bp
A p
Outline
Motivation
Simple Reachability
Mutual Exclusion
Practical Matters
Limiting Mutex
Reachable propositions
Time spread
p
A
q
M(p;2, q;238)[0,2] [236,240]
Mutex spread theorem ?
CSP?
A[0,3],[6,9]
B[11,]
C[…]…
…
p[0,5],[8.1,16]
q[2,17]…
r[3,]…
…
Propositions Actions
Initial Domains
A[0, )
B[0, )
C[0, )
…
p[0, )
q[0, )
r[0, )
…
Propositions Actions
Interval Elimination
A[0, )
B[0, )
C[0, )
…
p[0,5],[8.1, )
q[0, )
r[0, )
…
Propositions Actions
Reachability? Mutex
Mutex Representation
M(A;t, B;[t+2,t+10])p
B
[0,4]
¬p
A
[6,10]
B
A
M(A, B, [2,10])
M(A, B, , I)
Final Remarks
Reachabilitysimple
Mutexsurprisingly simplecomplex realization
Questionslimiting mutexCSP implementation?mutex representationTGP