, 17,3 17.4, , . , , , . plan:
conc(Preplan, [Action | PostPlan], Plan)
Plan cone PrePlan : Preplan = []; PrePlan = [ _1; Preplan - [, ]; Preplan = [ _ _, _ _, _];
PrePlan. PrePlan Action. , ( ), , PostPlan . , " " , " " - . , . " ". , .
, , , . , , . , : bteadth_first_plan(state, Goals, Plan, FinalState):-
candidate < Plan), %
plan(State, Goals, Plan, Finalstatej,
candidate! [First I Rest]):-candidate (Rest).
, , plan. : cone! Plan, _, _)
. (. 17.3) : plant state, Goals, Plan, FinState);-
cone (Plan, _, _), %
< eonc(PrePlan, [Action | PostPlan], Plan),
17.
, 17.4.
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, , . , Start , . 17.1,
plant Start, [ clear! 2), clear(3}], Plan, _)
: Plan = [ move ( b, 3, 4) ]
. , . 17.1, . plant Start, t cn( , ), on(b, ]], Plan, _) :
move (, , 2)
move (, 3, }
move! , , ]
mcve(, 1,
, , . , , . , , , .
. -, ? -, , move (, 3, )? . , move (, 1, ), on [ a, b), move [ , 1, ), , clear (). , on (b, ). , move [ , 3, ). . , , , , "" .
, move \ , , 2) move (, 3, ), . , on (, ). move [ , 3, ) , . on (, ), , , - on [ b, ), on (, } , - . { , ) , aiove (, 3, ) move (b, 3, ).
, , , . , . . , , , . , , ( -
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II. Prolog
). , , . .
, , . ( !), , , , . , , , , . , (. 11).
17.4. , , select achieves. , ( , ), . , . State achieves.