On(x) ~Flat(x) START FINISH ~Flat(Spare) Intact(Spare) Off(Spare) - PowerPoint PPT Presentation

On(x) ~Flat(x) START FINISH ~Flat(Spare) Intact(Spare) Off(Spare) On(Tire1) Flat(Tire1) Off(x) ClearHub Intact(x) Flat(x) On(x) Remove(x) Puton(x) Inflate(x) Off(x) ClearHub On(x) ~ClearHub ~Flat(x) L R L R S S S L R R L S S R L L R S S R L

ACTION PERCEPT 8 8 Left Suck Left Suck 7 3 6 7 3 8 6 GOAL GOAL LOOP Right Suck Left Suck 4 2 7 5 1 8 GOAL LOOP

Start At(Home) At(Home) Sells(HWS,Drill) Sells(SM,Ban.) Go(HWS) Sells(SM,Milk) At(HWS) Sells(HWS,Drill) Buy(Drill) At(HWS) Go(SM) At(SM) Sells(SM,Milk) At(SM) Sells(SM,Ban.) Buy(Milk) Buy(Ban.) At(SM) Go(Home) Have(Milk) At(Home) Have(Ban.) Have(Drill) Finish Start Start At(Home) At(Home) Go(HWS) Go(HWS) At(HWS) At(HWS) Sells(HWS,Drill) At(HWS) Sells(HWS,Drill) Sells(HWS,Drill) Buy(Drill) Buy(Drill) Sells(SM,Ban.) Sells(SM,Milk) At(HWS) At(HWS) At(HWS) Have(Drill) Go(SM) Go(SM) Sells(SM,Ban.) Sells(SM,Milk) At(SM) Sells(SM,Milk) At(SM) Sells(SM,Ban.) At(SM) Sells(SM,Milk) At(SM) Sells(SM,Ban.) Buy(Milk) Buy(Ban.) Buy(Milk) Buy(Ban.) At(SM) At(SM) Go(Home) Go(Home) Have(Milk) At(Home) Have(Ban.) Have(Drill) Have(Milk) At(Home) Have(Ban.) Have(Drill) Finish Finish

Start Start At(Home) At(Home) Go(HWS) Go(HWS) At(HWS) Sells(HWS,Drill) At(HWS) Sells(HWS,Drill) Buy(Drill) Buy(Drill) At(HWS) At(HWS) Go(SM) Go(SM) At(SM) At(SM) Sells(SM,Milk) At(SM) Sells(SM,Ban.) At(SM) Sells(SM,Milk) At(SM) Sells(SM,Ban.) Have(Drill) Sells(SM,Ban.) Buy(Milk) Buy(Ban.) Buy(Milk) Buy(Ban.) Sells(SM,Milk) At(SM) At(SM) At(SM) Have(Drill) Go(Home) Go(Home) Have(Ban.) Have(Milk) Have(Milk) At(Home) Have(Ban.) Have(Drill) Have(Milk) At(Home) Have(Ban.) Have(Drill) Finish Finish Start PRECONDITIONS FAILURE RESPONSE At(Home) START Go(HWS) Color(Chair,Blue) ~Have(Red) At(HWS) Sells(HWS,Drill) Get(Red) Buy(Drill) Have(Red) Fetch more red Have(Red) At(HWS) Go(SM) Paint(Red) At(SM) Sells(SM,Milk) At(SM) Sells(SM,Ban.) Color(Chair,Red) Buy(Milk) Buy(Ban.) FINISH At(SM) Go(Home) At(Home) Have(Drill) Have(Milk) At(Home) Have(Ban.) Have(Drill) Have(Ban.) Finish Have(Milk)

PRECONDITIONS FAILURE RESPONSE PRECONDITIONS FAILURE RESPONSE START START Color(Chair,Blue) ~Have(Red) Color(Chair,Blue) ~Have(Red) Get(Red) Get(Red) Have(Red) Have(Red) Paint(Red) Paint(Red) Color(Chair,Red) Extra coat of paint Color(Chair,Red) Extra coat of paint Color(Chair,Red) Color(Chair,Red) FINISH FINISH