urban-driving
Urban-driving applies AI planning techniques to autonomous driving.
Actions
- changeleft(I) : The agent changes lane to the left
- changeright(I) : The agent changes lane to the right
- forward(I) : The agent crosses an intersection without taking any turns
- turnleft(I) : The agent crosses an intersection by taking a left turn
- turnright(I) : The agent crosses an intersection by taking a right turn
- park(I) : The agent exits a road and parks
- unpark(I) : The agent unparks and enters a road
- stop(I) : The agent stops
- continue(I) : The agent continues to drive in its lane.
States
- inlane(L,I) : The agent is in the lane L at step I
- parkedat(S,I) : The agent is parked at shop S at step I
Facts
- Step, Lane, Road and Shop : Real world entities.
- leftof(L1,L2) : Lane L1 is to the left of L2 and lane L2 is to the right of L1 (Commutative)
- rturn(L1,L2) : A right turn from lane L1 will lead to lane L2
- lturn(L1,L2) : A left turn from lane L1 will lead to lane L2
- passsignal(L1,L2) : Crossing an intersection from lane L1 will lead to lane L2
- through(S,L) : Shop S is reachable through lane L
Domains
Domain 1
Domain 2
How to run
$ clingo *.asp domainN/*.asp -c n=10