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(new in ‘02) an induction tool to help in operator acquisition
Domain Model Development with GIPO-II : Method Outline
GIPO-II is designed for writing HTN models. GIPO II contains
domain model editors
basic static analysis checking tools
is object class hierarchy consistent?
do object state descriptions satisfy invariants?
are predicate structures and operator schema mutually consistent?
are task specifications consistent with the domain model?
a plan stepper
a solution visualiser
Transparency Tool + HyHTN Planner
Induction and Pattern tools
Acquisition of Objects/ Object State Behaviour -use GIPO-II GUI or (next release) use generic paterns Operator Acquisition Using GIPO-II GUI or (next release) induction Static Analysis Tools Static Analysis including Transparency Tool Solving simple tasks using The Plan Stepper Solving more complex Tasks with HyHTN Solution visualier
The basis of both primitive and hierarchical operators are transitions of objects LHS => RHS
Depending on how precisely specified the LHS/RHS of transitions are, this abstraction uniformly encompasses goal conditions, pre-conditions, necessary and conditional effects, deterministic and non-deterministic actions..
HYHTN is a forward state advancing HTN planner. This has the advantage that heuristic state-space search can be used to establish `achieve-goal' conditions .
Thus the performance of eg SHOP-like algorithms in HTN planning, and the performance of fast forward algorithms in pre-condition planning have been combined into a flexible, efficient hybrid system.
Also the transparency property reduces the possibility of choosing methods that lead to dead - ends, as every task network decomposition that satisfies its static constraints is guaranteed to achieve its post-conditions.
In the paper we include a comparison of HyHTN vs SHOP using the Translog Domain with object classes such as cities, regions, packages, trucks, trains, planes, cranes, ramps etc.
The domain model contains 34 parameterised methods and 58 parameterised primitive operator structures. The SHOP model is of a similar size.
The specific problems concern the transport of up to 10 packages, with 5 connected cities, 15 locations, 15 cranes to maintain one crane at each location, and 11 trucks in one location in the initial state.The packages were of different types: bulky, liquid, granular, and mail.