Database Reference
In-Depth Information
25:
{¬
ON(A,B,t)
}
1:
{¬
ONTABLE(
x
1
,
s
1
)
,
¬
CLEAR(
x
1
,
s
1
)
,
¬
CLEAR(
y
1
,
s
1
)
,
ON(
x
1
,
y
1
,do(STACK(
x
1
,
y
1
),
s
1
))
}
σ
1
=
{x
1
/
A
,y
1
/
B
,t/
do(STACK(A,B),
s
1
)
}
{¬
ONTABLE(A,
s
1
)
,
¬
CLEAR(A,
s
1
)
,
13:
{¬
ON(
x
2
,
y
2
,
s
2
)
,
¬
CLEAR(
x
2
,
s
2
)
,
CLEAR(
y
2
,do(UNSTACK(
x
2
,
y
2
),
s
2
))
}
¬
CLEAR(B,
s
1
)
}
σ
2
=
{y
2
/
B
,s
1
/
do(UNSTACK(
x
2
,B),
s
2
)
}
{¬
ONTABLE(A,do(UNSTACK(
x
2
,B),
s
2
))
,
¬
CLEAR(A,do(UNSTACK(
x
2
,B),
s
2
))
,
¬
ON(
x
2
,B,
s
2
)
,
22:
{
}
ON(C,B,S0)
¬
CLEAR(
x
2
,
s
2
)
}
σ
3
=
{x
2
/
C
,s
2
/
S0
}
{¬
ONTABLE(A,do(UNSTACK(C,B),SO))
,
¬
CLEAR(A,do(UNSTACK(C,B),S0))
,
¬
CLEAR(C,S0)
}
24:
{
CLEAR(C,S0)
}
σ
4
=
{}
{¬
ONTABLE(A,do(UNSTACK(C,B),S0))
,
¬
CLEAR(A,do(UNSTACK(C,B),S0))
}
18:
{¬
CLEAR(
x
5
,
s
5
)
,
CLEAR(
x
5
,do(UNSTACK(
u
5
,
v
5
),
s
5
))
}
σ
5
=
{x
5
/
A
,u
5
/
C
,v
5
/
B
,s
5
/
S0
}
{¬
ONTABLE(A,do(UNSTACK(C,B),S0))
,
¬
CLEAR(A,S0)
}
23:
{
CLEAR(A,S0)
}
σ
6
=
{}
{¬
ONTABLE(A,do(UNSTACK(C,B),S0))
}
16:
{¬
ONTABLE(
x
7
,
s
7
)
,
ONTABLE(
x
7
,do(UNSTACK(
u
7
,
v
7
),
s
7
))
}
σ
7
=
{x
7
/
A
,u
7
/
C
,v
7
/
B
,s
7
/
S0
}
{¬
}
20:
{
}
ONTABLE(A,S0)
ONTABLE(A,S0)
σ
8
=
{}
Abbildung 11.4
Plangenerierung im Situationskalkul mittels SLD-Resolution
