Question 18
AUTOMATED PLANNING
Consider a planning problem in the multiarm blocks-world domain, with 2^(k^2) blocks and k^2 arms, for k greater than 5, where multiple empty arms cannot simultaneously pick up (respectively, unstack) the same block, and multiple arms holding different blocks cannot simultaneously stack on the same block, but multiple arms can simultaneously perform independent tasks.
Extend the operators in single-arm case to multiarm case by adding an arm parameter. In the multiarm case, Pickup(n,X) and Unstack(n,X,Y) actions will delete clear(X), and Putdown(n,X) and Stack(n,X,Y) actions will add clear(X).
The start state which is a valid state is not given to us. The goal state has all the blocks as a single tower resting on the table.
Compute the worst case makespan. Give a precise and concise answer. Answers Case Sensitive : No