;;; Here is a straightforward transport task: take six pieces of garbage ;;; across four nodes, taking into account tolls and fuel consumption. ;;; There is a fuel dispenser at the first and third node, and ATMs at the first ;;; and second, so you have to carry money with you to traverse the ;;; last road. (define (problem p4) (:domain simple-domain) (:objects N-0-0 N-0-1 N-0-2 N-0-3 G1 G2 G3 G4 G5 G6 R1 R2 R3 the-box D1) (:init (truck-at N-0-0) (at G1 N-0-0) (at G2 N-0-0) (dump-at D1 N-0-3) (at the-BOX N-0-0) (at G3 N-0-0) (at G4 N-0-0) (at G5 N-0-0) (at G6 N-0-0) (garbage G1) (garbage G2) (garbage G3) (garbage G4) (garbage G5) (garbage G6) (box the-BOX) (dumpster D1) (location N-0-0) (location N-0-1) (location N-0-2) (location N-0-3) (road R1 N-0-0 N-0-1) (road R1 N-0-1 N-0-0) (road R2 N-0-1 N-0-2) (road R2 N-0-2 N-0-1) (road R3 N-0-2 N-0-3) (road R3 N-0-3 N-0-2) (atm N-0-0) (atm N-0-1) (fuel-dispenser N-0-0) (fuel-full) (tolled R1) (tolled R2) (yes-toll R1) (yes-toll R2) (liftable G1) (liftable G2) (liftable G3) (liftable G4) (liftable G5) (liftable G6)) ; (:rank-fun truck-rank-func-2) (:goal (and (garbage-disposed G1) (garbage-disposed G2) (garbage-disposed G3) (garbage-disposed G4) (garbage-disposed G5)(garbage-disposed G6) ))) ;UCPOP(445): (bf-control 'p4) ; ;Initial : ((TRUCK-AT N-0-0) (AT G1 N-0-0) (AT G2 N-0-0) (DUMP-AT D1 N-0-3) (AT BOX N-0-0) ; (AT G3 N-0-0) (AT G4 N-0-0) (AT G5 N-0-0) (AT G6 N-0-0) (GARBAGE G1) ; (GARBAGE G2) (GARBAGE G3) (GARBAGE G4) (GARBAGE G5) (GARBAGE G6) ; (BOX BOX) (DUMPSTER D1) (LOCATION N-0-0) (LOCATION N-0-1) (LOCATION N-0-2) ; (LOCATION N-0-3) (ROAD R1 N-0-0 N-0-1) (ROAD R1 N-0-1 N-0-0) (ROAD R2 N-0-1 N-0-2) ; (ROAD R2 N-0-2 N-0-1) (ROAD R3 N-0-2 N-0-3) (ROAD R3 N-0-3 N-0-2) (ATM N-0-0) (ATM N-0-1) ; (FUEL-DISPENSER N-0-0) (FUEL-FULL) (TOLLED R1) (TOLLED R2) ; (YES-TOLL R1) (YES-TOLL R2) (LIFTABLE G1) (LIFTABLE G2) ; (LIFTABLE G3) (LIFTABLE G4) (LIFTABLE G5) (LIFTABLE G6)) ; ;Step 1 : (PICKUP G6 N-0-0) Created 15 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE G6) ; 0 -> (AT G6 N-0-0) ;Step 2 : (PICKUP G5 N-0-0) Created 14 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE G5) ; 0 -> (AT G5 N-0-0) ;Step 3 : (PICKUP G4 N-0-0) Created 13 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE G4) ; 0 -> (AT G4 N-0-0) ;Step 4 : (PICKUP G3 N-0-0) Created 12 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE G3) ; 0 -> (AT G3 N-0-0) ;Step 5 : (PICKUP G2 N-0-0) Created 11 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE G2) ; 0 -> (AT G2 N-0-0) ;Step 6 : (GET-ALL-MONEY-I-EVER-NEED N-0-0 N-0-0) Created 7 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (ATM N-0-0) ;Step 7 : (GET-ALL-FUEL-I-EVER-NEED N-0-0 N-0-0) Created 10 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (FUEL-DISPENSER N-0-0) ; 7 -> (HAVE-MONEY) ;Step 8 : (PAY-TOLL YES-TOLL R2) Created 8 ; 7 -> (HAVE-MONEY) ;Step 9 : (PAY-TOLL YES-TOLL R1) Created 6 ; 7 -> (HAVE-MONEY) ;Step 10 : (PICKUP G1 N-0-0) Created 2 ; 0 -> (TRUCK-AT N-0-0) ; 0 -> (LIFTABLE G1) ; 0 -> (AT G1 N-0-0) ;Step 11 : (TRAVEL N-0-0 N-0-1 R1) Created 5 ; 0 -> (FUEL-FULL) ; 0 -> (NOT (FUEL-EMPTY)) ; 6 -> (NOT (TOLLED R1)) ; 0 -> (ROAD R1 N-0-0 N-0-1) ; 0 -> (LOCATION N-0-1) ; 0 -> (TRUCK-AT N-0-0) ;Step 12 : (TRAVEL N-0-1 N-0-2 R2) Created 4 ; 5 -> (NOT (FUEL-EMPTY)) ; 8 -> (NOT (TOLLED R2)) ; 0 -> (ROAD R2 N-0-1 N-0-2) ; 0 -> (LOCATION N-0-2) ; 5 -> (TRUCK-AT N-0-1) ;Step 13 : (REFUEL) Created 9 ; 10 -> (HAVE-FUEL) ;Step 14 : (TRAVEL N-0-2 N-0-3 R3) Created 3 ; 9 -> (NOT (FUEL-EMPTY)) ; 0 -> (NOT (TOLLED R3)) ; 0 -> (ROAD R3 N-0-2 N-0-3) ; 0 -> (LOCATION N-0-3) ; 4 -> (TRUCK-AT N-0-2) ;Step 15 : (DISPOSE-ALL-GARBAGE D1 N-0-3) Created 1 ; 15 -> (HOLDING G6) ; 0 -> (GARBAGE G6) ; 14 -> (HOLDING G5) ; 0 -> (GARBAGE G5) ; 13 -> (HOLDING G4) ; 0 -> (GARBAGE G4) ; 12 -> (HOLDING G3) ; 0 -> (GARBAGE G3) ; 11 -> (HOLDING G2) ; 0 -> (GARBAGE G2) ; 3 -> (TRUCK-AT N-0-3) ; 0 -> (DUMPSTER D1) ; 0 -> (DUMP-AT D1 N-0-3) ; 2 -> (HOLDING G1) ; 0 -> (GARBAGE G1) ; ;Goal : (AND (GARBAGE-DISPOSED G1) (GARBAGE-DISPOSED G2) ; (GARBAGE-DISPOSED G3) (GARBAGE-DISPOSED G4) (GARBAGE-DISPOSED G5) ; (GARBAGE-DISPOSED G6)) ; 1 -> (GARBAGE-DISPOSED G6) ; 1 -> (GARBAGE-DISPOSED G5) ; 1 -> (GARBAGE-DISPOSED G4) ; 1 -> (GARBAGE-DISPOSED G3) ; 1 -> (GARBAGE-DISPOSED G2) ; 1 -> (GARBAGE-DISPOSED G1) ;Facts: ;Complete! ; ;UCPOP Stats: Initial terms = 41; Goals = 7 ; Success (15 steps) ; Created 693 plans, but explored only 483 ; CPU time: 20.2500 sec ; Branching factor: 50.627 ; Working Unifies: 2708 ; Bindings Added: 303 ;#plan ;# ;UCPOP(446):