Intro

what is planning?

processing organize the activities to achieve required goals.

Q: what is the goal for robot?what is needed to plan? what is the problem?

A: get to some place,grab something,

given: model , current state and desired states of robot and world plus cost function

get: a plan Π: 1. a set of actions. 2. reaches desired state 3. minimize cost

eg.autonomous navigation, flight among people, open the door, assembling a bridcage, unload a truck