In this week's assignment you will translate your robot domain to the
HTN planner UMCP and extend it. UMCP is available from the CS 541 home page. There
is also a link to the UMCP manual there, and a small version of the
robot domain for UMCP as an example.
- Translate your Tweak domain to UMCP. The operators of the Tweak
domain should be primitive operators in your UMCP domain.
- Test your domain on the same problem that you used in Tweak, that
requires a getting a key, unlocking a door, opening the door, and
getting to the next room.
- Add a new feature to the domain that makes use of a non-primitive
task. For example, asking the robot to deliver coffee to a lethargic
grad student might require it to first go to the room with the coffee
machine, make coffee and then deliver it.
- Investigate how the domain scales, i.e. how much extra time is
required when you add more rooms, doors, keys, grad students etc.
- Turn in a print out of your domain, initial state, goal state, and
trace of a successful run. Describe the scaling behavior you found.