Briefly describe a main difference between classical planning and scheduling. (b) [2 marks] List two real-world...

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Briefly describe a main difference between classical planning and scheduling. (b) [2 marks] List two real-world applications of routing problems. (c) Consider the planning problem of a robot that moves an object from one room to another. There are three rooms A, B and C, and the robot can move from any room to any other room. The object and robot are both initially in room A, and the goal is to use the robot to move the object to room C. The robot has the following actions: Move from one room to another; Carry the object from one room to another; Pick the object; Drop the object. Move can only be taken when the robot is not holding the object, and Carry can only be taken when the robot is holding the object. Pick can only be taken if the robot and object are in the same room, and the effect is that the object is Held. Drop can only be taken when the robot is holding the object, and the effect is that the object is in the room where it is dropped. The object is not in ANY room if it is held. (i) [2 marks] Write the initial state in the Planning Domain Definition Language (PDDL). (ii) [2 marks] Write the goal state in PDDL. (iii) [6 marks] Write the Move, Carry, Pick and Drop actions in PDDL. (iv) [2 marks] Write a plan (a sequence of actions) from the initial state to the goal state. (d) [4 marks] Dispatching rule can be used to solve dynamic scheduling problems. It selects the next action through a 2-step selection process. Given a state with the following four candidate actions al Process (01, m1,30) (i.e., start processing the operation o1 by machine m1 at time 30), a2 = Process (02, m1,30), a3 = Process(o3, m2,30), a4 = Process (o4, m2,50), and we have the priority value prior (a1) = 40, prior (a2) = 60, prior (a3) = 20, prior(a4) = 100, state (i) the actions selected after the first step of selection; (ii) the final selected action. Briefly describe a main difference between classical planning and scheduling. (b) [2 marks] List two real-world applications of routing problems. (c) Consider the planning problem of a robot that moves an object from one room to another. There are three rooms A, B and C, and the robot can move from any room to any other room. The object and robot are both initially in room A, and the goal is to use the robot to move the object to room C. The robot has the following actions: Move from one room to another; Carry the object from one room to another; Pick the object; Drop the object. Move can only be taken when the robot is not holding the object, and Carry can only be taken when the robot is holding the object. Pick can only be taken if the robot and object are in the same room, and the effect is that the object is Held. Drop can only be taken when the robot is holding the object, and the effect is that the object is in the room where it is dropped. The object is not in ANY room if it is held. (i) [2 marks] Write the initial state in the Planning Domain Definition Language (PDDL). (ii) [2 marks] Write the goal state in PDDL. (iii) [6 marks] Write the Move, Carry, Pick and Drop actions in PDDL. (iv) [2 marks] Write a plan (a sequence of actions) from the initial state to the goal state. (d) [4 marks] Dispatching rule can be used to solve dynamic scheduling problems. It selects the next action through a 2-step selection process. Given a state with the following four candidate actions al Process (01, m1,30) (i.e., start processing the operation o1 by machine m1 at time 30), a2 = Process (02, m1,30), a3 = Process(o3, m2,30), a4 = Process (o4, m2,50), and we have the priority value prior (a1) = 40, prior (a2) = 60, prior (a3) = 20, prior(a4) = 100, state (i) the actions selected after the first step of selection; (ii) the final selected action.

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