18340052_何泽A31
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AI (Fall 2020) – Assignment 3
Planning and Uncertainty
何泽 18340052
Ⅰ
Shakey the robot wakes up in a dark room r1, there is a light bulb but the switch is turned off. After inspection, she finds out
there are another two rooms r2, r3 next to this one, where r2 contains a box b1 and r3 contains a box b2. To light up the bulb,
box b1 must be in room r1 and b2 in r2. The domain of objects in this problem is thus, . The robot
Shakey can achieve her goal using the following 3 actions:
: Shakey walks from location loc1 to loc2 where the two locations are adja- cent.
: Shakey pushes the box from loc1 to loc2 where the two locations are adjacent.
: Shakey turns on the light bulb in room r1, only if the boxes are in their correct posi- tions.
The descriptions would require the two fluents and one predicate:
: in situation s, the light bulb in room r1 is on.
: in situation s, the object obj (box or shakey) is in the location .
: the two locations are adjacent.
Using the situation calculus, help Shakey to see the light.
1. An object cannot be in two different locations in the same situation. Formalize this axiom.
(Hint: quantify over situation , object , and two locations and .)
2. Write a sentence describing the initial situation S0; Write a sentence of the form that asserts the existence of the
final goal situation using the fluents. (you are not required to provide the adjacency of the rooms)
3. Write the precondition and effect axioms for the actions.
4. Write the goal situation as a ground situation term, using as few actions as possible. (Hint:Review the definition of a
term; The do(a, s) function is your friend in situation calculus.)
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