Action Cook

1
Action Cook Prec CleanHands Effects
Dinner Action Wrap Prec Quiet Effects Present
Action Carry Prec Effects Garbage AND
CleanHands Action Dolly Prec Effects Garbage
AND Quiet
Initial State Garbage CleanHands Quiet
2
S0
Garbage
Clean-Hands
Quiet
Dinner
Present
3
S0
A0
Garbage
Carry
Dolly
Clean-Hands
Cook
Quiet
Wrap
Dinner
Present
4
S0
A0
Garbage
Carry
Dolly
Clean-Hands
Cook
Quiet
Wrap
Dinner
Present
5
S0
A0
S1
Garbage
Garbage
Carry
Dolly
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Dinner
Dinner
Present
Present
6
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
7
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
8
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
9
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
10
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
11
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
12
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
13
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
14
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
15
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
16
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
17
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
18
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
19
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
20
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
??
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
21
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
22
S1
A1
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Quiet
Wrap
Quiet
Dinner
Dinner
Present
Present
23
S1
A1
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Quiet
Wrap
Quiet
Dinner
Dinner
Present
Present
24
S1
A1
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Quiet
Wrap
Quiet
Dinner
Dinner
Present
Present
25
S2
S1
A1
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
26
S2
S1
A1
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
27
S2
S1
A1
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
28
S2
S1
A1
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
29
S2
S1
A1
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
30
S2
S1
A1
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
31
S2
S1
A1
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
32
S2
A2
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Quiet
Wrap
Quiet
Dinner
Dinner
Present
Present
33
S2
A2
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Quiet
Wrap
Quiet
Dinner
Dinner
Present
Present
34
S2
A2
S3
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
35
S2
A2
S3
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
36
S2
A2
S3
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
37
S2
A2
S3
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
38
S2
A2
S3
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
39
S2
A2
S3
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
40
Extract Plan for Present Garbage at level S1
on next slide
41
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
42
Extract Plan for Present Garbage at level S1
Answer Carry and Wrap in parallel
43
Extract Plan for Present Garbage Dinner at
level S1 on next slide
FAIL!!!
44
S0
A0
S1
Garbage
Garbage
Carry
Garbage
Dolly
Clean-Hands
Clean-Hands
Cook
Clean-Hands
Quiet
Quiet
Quiet
Wrap
Dinner
Dinner
Dinner
Present
Present
Present
45
Extract Plan for Present Garbage Dinner at
level S2 on next slide
46
S2
S1
A1
Garbage
Garbage
Carry
Garbage
Garbage
Dolly
Clean-Hands
Clean-Hands
Clean-Hands
Clean-Hands
Cook
Quiet
Quiet
Wrap
Quiet
Quiet
Dinner
Dinner
Dinner
Dinner
Present
Present
Present
Present
47
Extract Plan for Present Garbage Dinner at
level S2
Answer Wrap and Cook in parallel
then Carry
OR
Answer Cook then Carry and Wrap
in parallel
48
Action Act-1 Prec Effects P AND W Action
Act-2 Prec Effects Q AND W
Example One-level plan exists for (P AND Q)
but P and Q are mutex at S1 This is
a very unusual case
49
S1
A0
S0
P
Act-1
W
W
Act-2
Q
50
S1
A0
S0
P
Act-1
W
W
Act-2
Q
51
S1
A0
S0
P
Act-1
W
W
Act-2
Q
52
S2
A1
S1
P
P
Act-1
W
W
W
W
Act-2
Q
Q
53
S2
A1
S1
P
P
Act-1
W
W
W
W
Act-2
Q
Q
54
S2
A1
S1
P
P
Act-1
W
W
W
W
Act-2
Q
Q