problem

SHOP2 一个人工智能里面关于任务分解和任务规划的系统。JSHOP2是其java版本。

(defproblem problem ROVER
  (
    ;;;
    ;;;  facts
    ;;;
    (LANDER GENERAL)
    (MODE COLOUR)
    (MODE HIGH_RES)
    (MODE LOW_RES)
    (ROVER ROVER0)
    (ROVER ROVER1)
    (ROVER ROVER2)
    (ROVER ROVER3)
    (ROVER ROVER4)
    (ROVER ROVER5)
    (ROVER ROVER6)
    (ROVER ROVER7)
    (STORE ROVER0STORE)
    (STORE ROVER1STORE)
    (STORE ROVER2STORE)
    (STORE ROVER3STORE)
    (STORE ROVER4STORE)
    (STORE ROVER5STORE)
    (STORE ROVER6STORE)
    (STORE ROVER7STORE)
    (WAYPOINT WAYPOINT0)
    (WAYPOINT WAYPOINT1)
    (WAYPOINT WAYPOINT2)
    (WAYPOINT WAYPOINT3)
    (WAYPOINT WAYPOINT4)
    (WAYPOINT WAYPOINT5)
    (WAYPOINT WAYPOINT6)
    (WAYPOINT WAYPOINT7)
    (WAYPOINT WAYPOINT8)
    (WAYPOINT WAYPOINT9)
    (WAYPOINT WAYPOINT10)
    (WAYPOINT WAYPOINT11)
    (WAYPOINT WAYPOINT12)
    (WAYPOINT WAYPOINT13)
    (WAYPOINT WAYPOINT14)
    (WAYPOINT WAYPOINT15)
    (WAYPOINT WAYPOINT16)
    (WAYPOINT WAYPOINT17)
    (WAYPOINT WAYPOINT18)
    (WAYPOINT WAYPOINT19)
    (WAYPOINT WAYPOINT20)
    (WAYPOINT WAYPOINT21)
    (WAYPOINT WAYPOINT22)
    (WAYPOINT WAYPOINT23)
    (WAYPOINT WAYPOINT24)
    (WAYPOINT WAYPOINT25)
    (WAYPOINT WAYPOINT26)
    (WAYPOINT WAYPOINT27)
    (WAYPOINT WAYPOINT28)
    (WAYPOINT WAYPOINT29)
    (CAMERA CAMERA0)
    (CAMERA CAMERA1)
    (CAMERA CAMERA2)
    (CAMERA CAMERA3)
    (CAMERA CAMERA4)
    (CAMERA CAMERA5)
    (CAMERA CAMERA6)
    (CAMERA CAMERA7)
    (CAMERA CAMERA8)
    (CAMERA CAMERA9)
    (CAMERA CAMERA10)
    (OBJECTIVE OBJECTIVE0)
    (OBJECTIVE OBJECTIVE1)
    (OBJECTIVE OBJECTIVE2)
    (OBJECTIVE OBJECTIVE3)
    (OBJECTIVE OBJECTIVE4)
    (OBJECTIVE OBJECTIVE5)
    (OBJECTIVE OBJECTIVE6)
    (OBJECTIVE OBJECTIVE7)
    (OBJECTIVE OBJECTIVE8)
    (OBJECTIVE OBJECTIVE9)
    ;;;
    ;;;  initial states
    ;;;
    (VISIBLE WAYPOINT0 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT22)
    (VISIBLE WAYPOINT22 WAYPOINT0)
    (VISIBLE WAYPOINT1 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT6)
    (VISIBLE WAYPOINT6 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT27)
    (VISIBLE WAYPOINT27 WAYPOINT1)
    (VISIBLE WAYPOINT2 WAYPOINT6)
    (VISIBLE WAYPOINT6 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT11)
    (VISIBLE WAYPOINT11 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT24)
    (VISIBLE WAYPOINT24 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT27)
    (VISIBLE WAYPOINT27 WAYPOINT2)
    (VISIBLE WAYPOINT3 WAYPOINT7)
    (VISIBLE WAYPOINT7 WAYPOINT3)
    (VISIBLE WAYPOINT3 WAYPOINT13)
    (VISIBLE WAYPOINT13 WAYPOINT3)
    (VISIBLE WAYPOINT3 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT3)
    (VISIBLE WAYPOINT4 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT4)
    (VISIBLE WAYPOINT4 WAYPOINT6)
    (VISIBLE WAYPOINT6 WAYPOINT4)
    (VISIBLE WAYPOINT4 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT4)
    (VISIBLE WAYPOINT4 WAYPOINT9)
    (VISIBLE WAYPOINT9 WAYPOINT4)
    (VISIBLE WAYPOINT4 WAYPOINT13)
    (VISIBLE WAYPOINT13 WAYPOINT4)
    (VISIBLE WAYPOINT4 WAYPOINT14)
    (VISIBLE WAYPOINT14 WAYPOINT4)
    (VISIBLE WAYPOINT5 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT5)
    (VISIBLE WAYPOINT5 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT5)
    (VISIBLE WAYPOINT5 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT5)
    (VISIBLE WAYPOINT5 WAYPOINT27)
    (VISIBLE WAYPOINT27 WAYPOINT5)
    (VISIBLE WAYPOINT6 WAYPOINT11)
    (VISIBLE WAYPOINT11 WAYPOINT6)
    (VISIBLE WAYPOINT6 WAYPOINT15)
    (VISIBLE WAYPOINT15 WAYPOINT6)
    (VISIBLE WAYPOINT6 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT6)
    (VISIBLE WAYPOINT6 WAYPOINT25)
    (VISIBLE WAYPOINT25 WAYPOINT6)
    (VISIBLE WAYPOINT6 WAYPOINT27)
    (VISIBLE WAYPOINT27 WAYPOINT6)
    (VISIBLE WAYPOINT7 WAYPOINT5)
    (VISIBLE WAYPOINT5 WAYPOINT7)
    (VISIBLE WAYPOINT7 WAYPOINT23)
    (VISIBLE WAYPOINT23 WAYPOINT7)
    (VISIBLE WAYPOINT8 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT13)
    (VISIBLE WAYPOINT13 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT22)
    (VISIBLE WAYPOINT22 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT28)
    (VISIBLE WAYPOINT28 WAYPOINT8)
    (VISIBLE WAYPOINT9 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT9)
    (VISIBLE WAYPOINT9 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT9)
    (VISIBLE WAYPOINT9 WAYPOINT20)
    (VISIBLE WAYPOINT20 WAYPOINT9)
    (VISIBLE WAYPOINT9 WAYPOINT25)
    (VISIBLE WAYPOINT25 WAYPOINT9)
    (VISIBLE WAYPOINT10 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT7)
    (VISIBLE WAYPOINT7 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT12)
    (VISIBLE WAYPOINT12 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT13)
    (VISIBLE WAYPOINT13 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT23)
    (VISIBLE WAYPOINT23 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT27)
    (VISIBLE WAYPOINT27 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT28)
    (VISIBLE WAYPOINT28 WAYPOINT10)
    (VISIBLE WAYPOINT11 WAYPOINT8)
    (VISIBLE WAYPOINT8 WAYPOINT11)
    (VISIBLE WAYPOINT11 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT11)
    (VISIBLE WAYPOINT11 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT11)
    (VISIBLE WAYPOINT12 WAYPOINT3)
    (VISIBLE WAYPOINT3 WAYPOINT12)
    (VISIBLE WAYPOINT12 WAYPOINT7)
    (VISIBLE WAYPOINT7 WAYPOINT12)
    (VISIBLE WAYPOINT12 WAYPOINT23)
    (VISIBLE WAYPOINT23 WAYPOINT12)
    (VISIBLE WAYPOINT13 WAYPOINT7)
    (VISIBLE WAYPOINT7 WAYPOINT13)
    (VISIBLE WAYPOINT13 WAYPOINT15)
    (VISIBLE WAYPOINT15 WAYPOINT13)
    (VISIBLE WAYPOINT13 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT13)
    (VISIBLE WAYPOINT13 WAYPOINT23)
    (VISIBLE WAYPOINT23 WAYPOINT13)
    (VISIBLE WAYPOINT14 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT14)
    (VISIBLE WAYPOINT14 WAYPOINT6)
    (VISIBLE WAYPOINT6 WAYPOINT14)
    (VISIBLE WAYPOINT14 WAYPOINT20)
    (VISIBLE WAYPOINT20 WAYPOINT14)
    (VISIBLE WAYPOINT15 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT15)
    (VISIBLE WAYPOINT15 WAYPOINT25)
    (VISIBLE WAYPOINT25 WAYPOINT15)
    (VISIBLE WAYPOINT15 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT15)
    (VISIBLE WAYPOINT15 WAYPOINT28)
    (VISIBLE WAYPOINT28 WAYPOINT15)
    (VISIBLE WAYPOINT16 WAYPOINT10)
    (VISIBLE WAYPOINT10 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT11)
    (VISIBLE WAYPOINT11 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT12)
    (VISIBLE WAYPOINT12 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT14)
    (VISIBLE WAYPOINT14 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT17)
    (VISIBLE WAYPOINT17 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT16)
    (VISIBLE WAYPOINT17 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT17)
    (VISIBLE WAYPOINT17 WAYPOINT4)
    (VISIBLE WAYPOINT4 WAYPOINT17)
    (VISIBLE WAYPOINT17 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT17)
    (VISIBLE WAYPOINT17 WAYPOINT20)
    (VISIBLE WAYPOINT20 WAYPOINT17)
    (VISIBLE WAYPOINT18 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT23)
    (VISIBLE WAYPOINT23 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT24)
    (VISIBLE WAYPOINT24 WAYPOINT18)
    (VISIBLE WAYPOINT19 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT19)
    (VISIBLE WAYPOINT19 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT19)
    (VISIBLE WAYPOINT19 WAYPOINT9)
    (VISIBLE WAYPOINT9 WAYPOINT19)
    (VISIBLE WAYPOINT19 WAYPOINT12)
    (VISIBLE WAYPOINT12 WAYPOINT19)
    (VISIBLE WAYPOINT19 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT19)
    (VISIBLE WAYPOINT19 WAYPOINT24)
    (VISIBLE WAYPOINT24 WAYPOINT19)
    (VISIBLE WAYPOINT20 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT20)
    (VISIBLE WAYPOINT20 WAYPOINT7)
    (VISIBLE WAYPOINT7 WAYPOINT20)
    (VISIBLE WAYPOINT20 WAYPOINT23)
    (VISIBLE WAYPOINT23 WAYPOINT20)
    (VISIBLE WAYPOINT20 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT20)
    (VISIBLE WAYPOINT21 WAYPOINT4)
    (VISIBLE WAYPOINT4 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT5)
    (VISIBLE WAYPOINT5 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT12)
    (VISIBLE WAYPOINT12 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT14)
    (VISIBLE WAYPOINT14 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT15)
    (VISIBLE WAYPOINT15 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT19)
    (VISIBLE WAYPOINT19 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT24)
    (VISIBLE WAYPOINT24 WAYPOINT21)
    (VISIBLE WAYPOINT21 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT21)
    (VISIBLE WAYPOINT22 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT22)
    (VISIBLE WAYPOINT22 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT22)
    (VISIBLE WAYPOINT23 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT23)
    (VISIBLE WAYPOINT23 WAYPOINT17)
    (VISIBLE WAYPOINT17 WAYPOINT23)
    (VISIBLE WAYPOINT24 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT24)
    (VISIBLE WAYPOINT24 WAYPOINT1)
    (VISIBLE WAYPOINT1 WAYPOINT24)
    (VISIBLE WAYPOINT24 WAYPOINT5)
    (VISIBLE WAYPOINT5 WAYPOINT24)
    (VISIBLE WAYPOINT24 WAYPOINT12)
    (VISIBLE WAYPOINT12 WAYPOINT24)
    (VISIBLE WAYPOINT24 WAYPOINT16)
    (VISIBLE WAYPOINT16 WAYPOINT24)
    (VISIBLE WAYPOINT25 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT25)
    (VISIBLE WAYPOINT25 WAYPOINT19)
    (VISIBLE WAYPOINT19 WAYPOINT25)
    (VISIBLE WAYPOINT25 WAYPOINT20)
    (VISIBLE WAYPOINT20 WAYPOINT25)
    (VISIBLE WAYPOINT26 WAYPOINT2)
    (VISIBLE WAYPOINT2 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT14)
    (VISIBLE WAYPOINT14 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT28)
    (VISIBLE WAYPOINT28 WAYPOINT26)
    (VISIBLE WAYPOINT26 WAYPOINT29)
    (VISIBLE WAYPOINT29 WAYPOINT26)
    (VISIBLE WAYPOINT27 WAYPOINT9)
    (VISIBLE WAYPOINT9 WAYPOINT27)
    (VISIBLE WAYPOINT27 WAYPOINT25)
    (VISIBLE WAYPOINT25 WAYPOINT27)
    (VISIBLE WAYPOINT27 WAYPOINT28)
    (VISIBLE WAYPOINT28 WAYPOINT27)
    (VISIBLE WAYPOINT28 WAYPOINT3)
    (VISIBLE WAYPOINT3 WAYPOINT28)
    (VISIBLE WAYPOINT28 WAYPOINT5)
    (VISIBLE WAYPOINT5 WAYPOINT28)
    (VISIBLE WAYPOINT28 WAYPOINT9)
    (VISIBLE WAYPOINT9 WAYPOINT28)
    (VISIBLE WAYPOINT28 WAYPOINT18)
    (VISIBLE WAYPOINT18 WAYPOINT28)
    (VISIBLE WAYPOINT29 WAYPOINT0)
    (VISIBLE WAYPOINT0 WAYPOINT29)
    (VISIBLE WAYPOINT29 WAYPOINT20)
    (VISIBLE WAYPOINT20 WAYPOINT29)
    (AT_SOIL_SAMPLE WAYPOINT0)
    (AT_ROCK_SAMPLE WAYPOINT0)
    (AT_ROCK_SAMPLE WAYPOINT1)
    (AT_SOIL_SAMPLE WAYPOINT2)
    (AT_ROCK_SAMPLE WAYPOINT3)
    (AT_SOIL_SAMPLE WAYPOINT4)
    (AT_ROCK_SAMPLE WAYPOINT4)
    (AT_SOIL_SAMPLE WAYPOINT5)
    (AT_ROCK_SAMPLE WAYPOINT5)
    (AT_ROCK_SAMPLE WAYPOINT6)
    (AT_SOIL_SAMPLE WAYPOINT7)
    (AT_ROCK_SAMPLE WAYPOINT7)
    (AT_ROCK_SAMPLE WAYPOINT10)
    (AT_SOIL_SAMPLE WAYPOINT12)
    (AT_SOIL_SAMPLE WAYPOINT13)
    (AT_SOIL_SAMPLE WAYPOINT14)
    (AT_SOIL_SAMPLE WAYPOINT15)
    (AT_ROCK_SAMPLE WAYPOINT15)
    (AT_ROCK_SAMPLE WAYPOINT18)
    (AT_ROCK_SAMPLE WAYPOINT19)