bhargava-shankar/ex-12_monkeybanana

Ex.No: 12 Planning – Monkey Banana Problem

DATE: 13.04.2024

REGISTER NUMBER : 212221040145

AIM:

To find the sequence of plan for Monkey Banana problem using PDDL Editor.

Algorithm:

Step 1: Start the program
Step 2 : Create a domain for Monkey Banana Problem.
Step 3: Create a domain by specifying predicates.
Step 4: Specify the actions GOTO, CLIMB, PUSH-BOX, GET-KNIFE, GRAB-BANANAS in Monkey Banana problem.

Step 5: Define a problem for Monkey Banana problem.
Step 6: Obtain the plan for given problem.
Step 7: Stop the program.

Program:

(define (domain monkey) (:requirements :strips)
(:constants monkey box knife bananas glass waterfountain) (:predicates (location ?x)
(on-floor)
(at ?m ?x) (hasknife) (onbox ?x) (hasbananas) (hasglass) (haswater))
;; movement and climbing
(:action GO-TO
:parameters (?x ?y)
:precondition (and (location ?x) (location ?y) (on-floor) (at monkey ?y))
:effect (and (at monkey ?x) (not (at monkey ?y)))) (:action CLIMB
:parameters (?x)
:precondition (and (location ?x) (at box ?x) (at monkey ?x))
:effect (and (onbox ?x) (not (on-floor)))) (:action PUSH-BOX
 
:parameters (?x ?y)
:precondition (and (location ?x) (location ?y) (at box ?y) (at monkey ?y) (on-floor))
:effect (and (at monkey ?x) (not (at monkey ?y)) (at box ?x)	(not (at box ?y))))
;; getting bananas (:action GET-KNIFE
:parameters (?y)
:precondition (and (location ?y) (at knife ?y) (at monkey ?y))
:effect (and (hasknife) (not (at knife ?y)))) (:action GRAB-BANANAS
:parameters (?y)
:precondition (and (location ?y) (hasknife)
(at bananas ?y) (onbox ?y))
:effect (hasbananas))
;; getting water (:action PICKGLASS
:parameters (?y)
:precondition (and (location ?y) (at glass ?y) (at monkey ?y))
:effect (and (hasglass) (not (at glass ?y)))) (:action GETWATER
:parameters (?y)
:precondition (and (location ?y) (hasglass) (at waterfountain ?y)
(at monkey ?y) (onbox ?y))
:effect (haswater)))

Input

Problem :

(define (problem pb1)
(:domain monkey)
(:objects p1 p2 p3 p4 bananas monkey box knife) (:init (location p1)
(location p2) (location p3) (location p4) (at monkey p1) (on-floor)
(at box p2)
(at bananas p3) (at knife p4)
)
(:goal (and (hasbananas)))
)

Output/Plan:

Result:

Thus the plan was found for the initial and goal state of given problem.