Action-Planning in the MACS Robot Control Architecture
Christopher Lörken, Frank Meyer, Joachim Hertzberg · 2008
(define (problem macs-prob) (:domain macs-example) (:objects region1_left region2_left region1_right region switchRegion switchRegion doorRegionLeft doorRegionRight doorRegion rightRoom room leftRoom switchRoom ) (:init (inRoom region1_left leftRoom) ... (robotAt region1_left) (liftable region1_left) (switch-triggerable switchRegion)) (:goal (robotAt doorRegionRight))) Problem Definition