CW 1 Automated Planning

This project plans an autonomous underwater vehicle (UUV) mission for wind farm inspection using PDDL (Planning Domain Definition Language). It covers search-based problem solving and automated planning tasks using defined domain and problem files. The coursework is structured in three parts, each progressively increasing in complexity and introducing new features.

Project Structure

The repository is organized into two main parts:

• PartA&B/: Contains domain and problems for Part 2A and Part 2B of the coursework.
• PartC/: Contains the extended domain and complex problem for Part 2C.
• Graphs/: Includes state space graphs for each problem.

Domain Modelling (Part 2A)

Task 1.1: World State Representation

• Types: uuv, ship, engineer, sample, location.

• Predicates:

  • (at ?u - uuv ?l - location) – UUV at a location.
  • (connected ?l1 - location ?l2 - location) – Path between two locations.
  • (has-image ?l - location) – Image taken at location.
  • (has-sonar ?l - location) – Sonar scan taken at location.
  • (has-sample ?u - uuv) – UUV has a collected sample.
  • (sample-at ?s - sample ?l - location) – Sample located at location.
  • (stored ?s - sample ?sh - ship) – Sample stored on ship.
  • (deployed ?u - uuv) – Whether UUV is deployed.

Task 1.2: Action Definitions

Implemented actions include:

• deploy-uuv – Deploys UUV from ship.
• move – Moves UUV between connected locations.
• take-image – Captures image.
• sonar-scan – Captures sonar scan.
• transmit-image / transmit-sonar – Transmit data back to ship.
• pickup-sample / deliver-sample – Sample collection and delivery.

Restrictions :

• UUV deploys once.
• One sample in memory at a time.
• Sample must be returned to ship.
• Ship can store only one sample.

Problem Modelling (Part 2B)

Problem 1

• UUV starts from ship.
• Save an image at waypoint 3 and sonar at waypoint 4.

Graph:

Problem 2

• UUV starts from ship.
• Save an image at waypoint 5, sonar at waypoint 3, and collect sample from waypoint 1.

Graph:

Problem 3

• 2 UUVs and 2 ships.

• UUV1 deployed at waypoint 2. UUV2 starts from second ship.

• Goals:

  • Image at waypoint 3 & 2
  • Sonar at waypoint 4 & 6
  • Samples from waypoint 1 & 5

Graph:

🛠️ Extension Features (Part 2C)

Problem 4

• AN engineer introduced.

• Ship has two inbuilt locations: bay and control centre.

• Constraints:

  • UUV deploy/return can only happen when engineer is at bay.
  • UUV can transmit data can only happen when engineer is at control centre.

Implemented using new types and actions for engineer movement and UUV constraints.

How to Run

Prerequisites

• Tested on: Editor.Planning.Domains

• Compatible with planners:

  • BFWS
  • LAMA-first
  • ENHSP

Instructions

1. Open domain/problem files in editor.planning.domains.
2. Use the "solver" option with any of the compatible planners.
3. Plans will be generated and displayed.

Planner Used

The PDDL files in this repository have been successfully tested with the following online planners available at editor.planning.domains:

• BFWS –FF-parser version
• ENHSP
• LAMA-first

Note on PDDL Implementation

• Only PDDL features covered in the course have been used.
• Important sections of the code are commented for clarity.
• Preconditions and effects of actions have been carefully considered to accurately model the system's behavior and constraints.

Author

• Vaishnavi Chintha @Vaishnavi-chintha