51 lines
2.2 KiB
Plaintext
51 lines
2.2 KiB
Plaintext
% Additional rules for enforcing the inclusion of parallel actions in plans,
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% whenever such 'redundant' actions are compatible with states and other actions
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% BASE PROGRAM
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selfdefeat(A) :- selfdefeat(A,X).
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disjoin(A,A1) :- active(A), has_condition(A,X,P), selfdefeat(A1,X), not selfdefeat(A).
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compatible(A,A1) :- active(A), active(A1), A != A1, 1 < _parallel, _parallel < 4,
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not diverge(A,A1), not exclude(A,A1), not disable(A,A1) : disable(A1,A).
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compatible(A) :- compatible(A,A1).
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compatible(A) :- active(A), active(A1), A != A1, _parallel = 1, not selfdefeat(A),
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not diverge(A,A1), not exclude(A,A1), not disjoin(A,A1).
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disable(A,A1,A2) :- compatible(A,A1), compatible(A,A2), compatible(A1,A2),
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disable(A1,A2), not disable(A1,A).
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disabled(A,A1) :- compatible(A), disable(A,A1).
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disabled(A,A2) :- simulate(A,A1), disable(A,A1,A2).
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simulate(A,A1) :- compatible(A,A1), not disable(A1,A), disabled(A,A1).
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simulate(A,A1) :- compatible(A,A1), not disable(A1,A), scope(X,V),
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postcondition(A1,X,V), not precondition(A1,X,V).
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% STEP PROGRAM
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#program step(t).
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defeated(A,t) :- compatible(A), postcondition(A,X,V), fluent(X), not holds(X,V,t).
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defeated(A,t) :- compatible(A), precondition(A,X,V), not holds(X,V,t-1), _parallel != 2.
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defeated(A,t) :- compatible(A), precondition(A,X,V), not has_condition(A,X,1), not holds(X,V,t),
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_parallel = 1.
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defeated(A,t) :- compatible(A), has_condition(A,X,1), not has_condition(A,X,0), single(X,t).
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proceed(A,X,V,t) :- compatible(A), holds(X,V,t-1), scope(X,V).
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proceed(A,X,V,t) :- simulate(A,A1), perform(A,A1,t), occurs(A1,t), scope(X,V),
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postcondition(A1,X,V), not precondition(A1,X,V).
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perform(A,A1,t) :- simulate(A,A1),
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proceed(A,X,V,t) : precondition(A1,X,V), _parallel = 2;
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alright(A,A2,t) : disable(A,A1,A2).
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alright(A,A1,t) :- disabled(A,A1), not occurs(A1,t).
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alright(A,A1,t) :- disabled(A,A1), perform(A,A1,t).
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defeated(A,t) :- compatible(A), precondition(A,X,V), not proceed(A,X,V,t), _parallel = 2.
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defeated(A,t) :- compatible(A), disable(A,A1), not alright(A,A1,t).
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:- compatible(A), not occurs(A,t), not defeated(A,t), 0 < _parallel, _parallel < 4.
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