CSE 579 KRR - ASU MCS Online
What the rules in the world.lp file is trying to do is given the init rules from the inst.lp files, we are trying to assign objects locations at time step 0.
Object tells you the type of object and its instance
Ex. object(node,1) means this is the 1 instance of a node object
Pair tells you an X/Y coordinate,
Ex. pair(X,Y)
Location is represented by location(object,X/Y Coordinate, Time)
Ex. location(object(node,1),pair(1,1),0), meaning node 1 is at location (1,1) on the grid
When we look at products, what we are doing is tying products to shelves S with a certain quantity U at time step Time.
On tells us there is a product object PR on shelf S with a quantity of U at time T.
Ex. on(product,shelf,quantity,time)
Inst1.lp initial state:
R denotes the robots, S denotes the shelves, PS denotes the picking stations, and the P denotes the products with the N x denoting the quanity of the product on the shelf. If P is by itself, that means there is only 1 on the shelf. The red highlighted area is the highway.
- Fix the predicate tracking that way we can see occurs for move, pickup, and putdown
- Minimize number of moves needed.
- Fix shelf duplicates
- Presentation
- ?????