机器人 Rover 正在房外，想进入房内，但不能开门让
机器人 Rover 正在房外，想进入房内，但不能开门让自已进去，而只能喊叫，让叫声促使开门。另一机器人 Max 在房间内，他能够开门并喜欢平静。Max 通常可以把门打开来使 Rover 停止叫喊。假设 Max 和 Rover 各有一个 STRIPS 规划生成系统和规划执行系统。试说明 Max 和 Rover 的 STRIPS 规则和动作，并描述导致平衡状态的规划序列和执行步骤.
用来描述状态的谓词公式有： INROOM(X): X 在房间里 OUTROOM(X): X 不在房间里 SOUND(X): X 在喊叫 QUIET(X): X 保持安静 OPENED(X): X 处于打开状态 CLOSED(X): X 处于关闭状态 Rover 可执行的动作有： Shout(X): X 喊叫 先决条件：OUTROOM(X) AND CLOSED(Door) AND QUIET(X) 删除表：QUIET(X) 添加表：SOUND(X) ComeIn(X): X 走进房间 先决条件: OUTROOM(X) AND OPEN(Door)删除表: OUTROOM(X) 添加表: INROOM(X) Max 可执行的动作有： Open(X, Door): 为 X 打开门 先决条件：SOUND(X) AND OUTROOM(X) AND CLOSED(Door) 删除表：CLOSED(Door) AND SOUND(X) 添加表：OPENED(Door) AND QUIET(X) Close(X): 关闭 X 先决条件：OPENED(X) 删除表：OPENED(X) 添加表：CLOSED(X) 初始状态 M0:OUTROOM(Rover) AND QUIET(Rover) AND CLOSED(Door) AND INROOM(Max) 目标状态 G0:INROOM(Rover) AND QUIET(Rover) AND CLOSED(Door) AND INROOM(Max) 导 致 平 衡 状 态 的 规 划 序 列 为 { Shout(Rover), Open(Rover, Door),ComeIn(Rover), Close(Door) } 执行步骤 (1) M0: OUTROOM(Rover) AND QUIET(Rover) AND CLOSED(Door) AND INROOM(Max)OP1: Shout(Rover) M1: OUTROOM(Rover) AND SOUND(Rover) AND CLOSED(Door) AND INROOM(Max) (2) M1: OUTROOM(Rover) AND SOUND(Rover) AND CLOSED(Door) AND INROOM(Max) OP2: Open(Rover, Door) M2: OUTROOM(Rover) AND QUIET(Rover) AND OPEND(Door) AND INROOM(Max) (3) M2: OUTROOM(Rover) AND QUIET(Rover) AND OPEND(Door) AND INROOM(Max) OP3: ComeIn(Rover) M3: INROOM(Rover) AND QUIET(Rover) AND OPEND(Door) AND INROOM(Max) (4) M3: INROOM(Rover) AND QUIET(Rover) AND OPEND(Door) AND INROOM(Max) OP4: Close(Door) M4(G0): INROOM(Rover) AND QUIET(Rover) AND CLOSED(Door) AND INROOM(Max)