package aima.core.environment.wumpusworld;
import java.util.ArrayList;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Set;
import aima.core.agent.Action;
import aima.core.environment.wumpusworld.action.Climb;
import aima.core.environment.wumpusworld.action.Forward;
import aima.core.environment.wumpusworld.action.Grab;
import aima.core.environment.wumpusworld.action.Shoot;
import aima.core.environment.wumpusworld.action.TurnLeft;
import aima.core.environment.wumpusworld.action.TurnRight;
import aima.core.logic.propositional.inference.DPLL;
import aima.core.logic.propositional.inference.OptimizedDPLL;
import aima.core.logic.propositional.kb.KnowledgeBase;
import aima.core.logic.propositional.parsing.ast.ComplexSentence;
import aima.core.logic.propositional.parsing.ast.Connective;
import aima.core.logic.propositional.parsing.ast.PropositionSymbol;
import aima.core.logic.propositional.parsing.ast.Sentence;
/**
* A Knowledge base tailored to the Wumpus World environment.
*
* @author Ciaran O'Reilly
* @author Federico Baron
* @author Alessandro Daniele
*/
public class WumpusKnowledgeBase extends KnowledgeBase {
public static final String LOCATION = "L";
public static final String BREEZE = "B";
public static final String STENCH = "S";
public static final String PIT = "P";
public static final String WUMPUS = "W";
public static final String WUMPUS_ALIVE = "WumpusAlive";
public static final String HAVE_ARROW = "HaveArrow";
public static final String FACING_NORTH = AgentPosition.Orientation.FACING_NORTH.toString();
public static final String FACING_SOUTH = AgentPosition.Orientation.FACING_SOUTH.toString();
public static final String FACING_EAST = AgentPosition.Orientation.FACING_EAST.toString();
public static final String FACING_WEST = AgentPosition.Orientation.FACING_WEST.toString();
public static final String PERCEPT_STENCH = "Stench";
public static final String PERCEPT_BREEZE = "Breeze";
public static final String PERCEPT_GLITTER = "Glitter";
public static final String PERCEPT_BUMP = "Bump";
public static final String PERCEPT_SCREAM = "Scream";
public static final String ACTION_FORWARD = Forward.FORWARD_ACTION_NAME;
public static final String ACTION_SHOOT = Shoot.SHOOT_ACTION_NAME;
public static final String ACTION_TURN_LEFT = TurnLeft.TURN_LEFT_ACTION_NAME;
public static final String ACTION_TURN_RIGHT = TurnRight.TURN_RIGHT_ACTION_NAME;
public static final String OK_TO_MOVE_INTO = "OK";
//
private int caveXDimension;
private int caveYDimension;
private DPLL dpll;
public WumpusKnowledgeBase(int caveXandYDimensions) {
this(new OptimizedDPLL(), caveXandYDimensions);
}
/**
* Create a Knowledge Base that contains the atemporal "wumpus physics" and
* temporal rules with time zero.
*
* @param dpll
* the dpll implementation to use for answering 'ask' queries.
* @param caveXandYDimensions
* x and y dimensions of the wumpus world's cave.
*
*/
public WumpusKnowledgeBase(DPLL dpll, int caveXandYDimensions) {
super();
this.dpll = dpll;
this.caveXDimension = caveXandYDimensions;
this.caveYDimension = caveXandYDimensions;
//
// 7.7.1 - The current state of the World
// The agent knows that the starting square contains no pit
tell(new ComplexSentence(Connective.NOT, newSymbol(PIT, 1, 1)));
// and no wumpus.
tell(new ComplexSentence(Connective.NOT, newSymbol(WUMPUS, 1, 1)));
// Atemporal rules about breeze and stench
// For each square, the agent knows that the square is breezy
// if and only if a neighboring square has a pit; and a square
// is smelly if and only if a neighboring square has a wumpus.
for (int y = 1; y <= caveYDimension; y++) {
for (int x = 1; x <= caveXDimension; x++) {
List<PropositionSymbol> pitsIn = new ArrayList<PropositionSymbol>();
List<PropositionSymbol> wumpsIn = new ArrayList<PropositionSymbol>();
if (x > 1) { // West room exists
pitsIn.add(newSymbol(PIT, x-1, y));
wumpsIn.add(newSymbol(WUMPUS, x-1, y));
}
if (y < caveYDimension) { // North room exists
pitsIn.add(newSymbol(PIT, x, y+1));
wumpsIn.add(newSymbol(WUMPUS, x, y+1));
}
if (x < caveXDimension) { // East room exists
pitsIn.add(newSymbol(PIT, x+1, y));
wumpsIn.add(newSymbol(WUMPUS, x+1, y));
}
if (y > 1) { // South room exists
pitsIn.add(newSymbol(PIT, x, y-1));
wumpsIn.add(newSymbol(WUMPUS, x, y-1));
}
tell(new ComplexSentence(newSymbol(BREEZE, x, y), Connective.BICONDITIONAL, Sentence.newDisjunction(pitsIn)));
tell(new ComplexSentence(newSymbol(STENCH, x, y), Connective.BICONDITIONAL, Sentence.newDisjunction(wumpsIn)));
}
}
// The agent also knows there is exactly one wumpus. This is represented
// in two parts. First, we have to say that there is at least one wumpus
List<PropositionSymbol> wumpsAtLeast = new ArrayList<PropositionSymbol>();
for (int x = 1; x <= caveXDimension; x++) {
for (int y = 1; y <= caveYDimension; y++) {
wumpsAtLeast.add(newSymbol(WUMPUS, x, y));
}
}
tell(Sentence.newDisjunction(wumpsAtLeast));
// Then, we have to say that there is at most one wumpus.
// For each pair of locations, we add a sentence saying
// that at least one of them must be wumpus-free.
int numRooms = (caveXDimension*caveYDimension);
for (int i = 0; i < numRooms; i++) {
for (int j = i+1; j < numRooms; j++) {
tell(new ComplexSentence(Connective.OR,
new ComplexSentence(Connective.NOT, newSymbol(WUMPUS, (i / caveXDimension)+1, (i % caveYDimension)+1)),
new ComplexSentence(Connective.NOT, newSymbol(WUMPUS, (j / caveXDimension)+1, (j % caveYDimension)+1))));
}
}
}
public AgentPosition askCurrentPosition(int t) {
int locX = -1, locY = -1;
for (int x = 1; x <= getCaveXDimension() && locX == -1; x++) {
for (int y = 1; y <= getCaveYDimension() && locY == -1; y++) {
if (ask(newSymbol(LOCATION, t, x, y))) {
locX = x;
locY = y;
}
}
}
if (locX == -1 || locY == -1) {
throw new IllegalStateException("Inconsistent KB, unable to determine current room position.");
}
AgentPosition current = null;
if (ask(newSymbol(FACING_NORTH, t))) {
current = new AgentPosition(locX, locY, AgentPosition.Orientation.FACING_NORTH);
}
else if (ask(newSymbol(FACING_SOUTH, t))) {
current = new AgentPosition(locX, locY, AgentPosition.Orientation.FACING_SOUTH);
}
else if (ask(newSymbol(FACING_EAST, t))) {
current = new AgentPosition(locX, locY, AgentPosition.Orientation.FACING_EAST);
}
else if (ask(newSymbol(FACING_WEST, t))) {
current = new AgentPosition(locX, locY, AgentPosition.Orientation.FACING_WEST);
}
else {
throw new IllegalStateException("Inconsistent KB, unable to determine current room orientation.");
}
return current;
}
// safe <- {[x, y] : ASK(KB, OK<sup>t</sup><sub>x,y</sub>) = true}
public Set<Room> askSafeRooms(int t) {
Set<Room> safe = new LinkedHashSet<Room>();
for (int x = 1; x <= getCaveXDimension(); x++) {
for (int y = 1; y <= getCaveYDimension(); y++) {
if (ask(newSymbol(OK_TO_MOVE_INTO, t, x, y))) {
safe.add(new Room(x, y));
}
}
}
return safe;
}
public boolean askGlitter(int t) {
return ask(newSymbol(PERCEPT_GLITTER, t));
}
// unvisited <- {[x, y] : ASK(KB, L<sup>t'</sup><sub>x,y</sub>) = false for all t' ≤ t}
public Set<Room> askUnvisitedRooms(int t) {
Set<Room> unvisited = new LinkedHashSet<Room>();
for (int x = 1; x <= getCaveXDimension(); x++) {
for (int y = 1; y <= getCaveYDimension(); y++) {
for (int tPrime = 0; tPrime <= t; tPrime++) {
if (ask(newSymbol(LOCATION, tPrime, x, y))) {
break; // i.e. is not false for all t' <= t
}
if (tPrime == t) {
unvisited.add(new Room(x, y)); // i.e. is false for all t' <= t
}
}
}
}
return unvisited;
}
public boolean askHaveArrow(int t) {
return ask(newSymbol(HAVE_ARROW, t));
}
// possible_wumpus <- {[x, y] : ASK(KB, ~W<sub>x,y</sub>) = false}
public Set<Room> askPossibleWumpusRooms(int t) {
Set<Room> possible = new LinkedHashSet<Room>();
for (int x = 1; x <= getCaveXDimension(); x++) {
for (int y = 1; y <= getCaveYDimension(); y++) {
if (!ask(new ComplexSentence(Connective.NOT, newSymbol(WUMPUS, x, y)))) {
possible.add(new Room(x, y));
}
}
}
return possible;
}
// not_unsafe <- {[x, y] : ASK(KB, ~OK<sup>t</sup><sub>x,y</sub>) = false}
public Set<Room> askNotUnsafeRooms(int t) {
Set<Room> notUnsafe = new LinkedHashSet<Room>();
for (int x = 1; x <= getCaveXDimension(); x++) {
for (int y = 1; y <= getCaveYDimension(); y++) {
if (!ask(new ComplexSentence(Connective.NOT, newSymbol(OK_TO_MOVE_INTO, t, x, y)))) {
notUnsafe.add(new Room(x, y));
}
}
}
return notUnsafe;
}
public boolean askOK(int t, int x, int y) {
return ask(newSymbol(OK_TO_MOVE_INTO, t, x, y));
}
public boolean ask(Sentence query) {
return dpll.isEntailed(this, query);
}
public int getCaveXDimension() {
return caveXDimension;
}
public void setCaveXDimension(int caveXDimension) {
this.caveXDimension = caveXDimension;
}
public int getCaveYDimension() {
return caveYDimension;
}
public void setCaveYDimension(int caveYDimension) {
this.caveYDimension = caveYDimension;
}
/**
* Add to KB sentences that describe the action a
*
* @param a
* action that must be added to KB
* @param time
* current time
*/
public void makeActionSentence(Action a, int t) {
if (a instanceof Climb) {
tell(newSymbol(Climb.CLIMB_ACTION_NAME, t));
}
else {
tell(new ComplexSentence(Connective.NOT, newSymbol(Climb.CLIMB_ACTION_NAME, t)));
}
if (a instanceof Forward) {
tell(newSymbol(Forward.FORWARD_ACTION_NAME, t));
}
else {
tell(new ComplexSentence(Connective.NOT, newSymbol(Forward.FORWARD_ACTION_NAME, t)));
}
if (a instanceof Grab) {
tell(newSymbol(Grab.GRAB_ACTION_NAME, t));
}
else {
tell(new ComplexSentence(Connective.NOT, newSymbol(Grab.GRAB_ACTION_NAME, t)));
}
if (a instanceof Shoot) {
tell(newSymbol(Shoot.SHOOT_ACTION_NAME, t));
}
else {
tell(new ComplexSentence(Connective.NOT, newSymbol(Shoot.SHOOT_ACTION_NAME, t)));
}
if (a instanceof TurnLeft) {
tell(newSymbol(TurnLeft.TURN_LEFT_ACTION_NAME, t));
}
else {
tell(new ComplexSentence(Connective.NOT, newSymbol(TurnLeft.TURN_LEFT_ACTION_NAME, t)));
}
if (a instanceof TurnRight) {
tell(newSymbol(TurnRight.TURN_RIGHT_ACTION_NAME, t));
}
else {
tell(new ComplexSentence(Connective.NOT, newSymbol(TurnRight.TURN_RIGHT_ACTION_NAME, t)));
}
}
/**
* Add to KB sentences that describe the perception p
* (only about the current time).
*
* @param p
* perception that must be added to KB
* @param time
* current time
*/
public void makePerceptSentence(AgentPercept p, int time) {
if (p.isStench()) {
tell(newSymbol(PERCEPT_STENCH, time));
} else {
tell(new ComplexSentence(Connective.NOT, newSymbol(PERCEPT_STENCH, time)));
}
if (p.isBreeze()) {
tell(newSymbol(PERCEPT_BREEZE, time));
} else {
tell(new ComplexSentence(Connective.NOT, newSymbol(PERCEPT_BREEZE, time)));
}
if (p.isGlitter()) {
tell(newSymbol(PERCEPT_GLITTER, time));
} else {
tell(new ComplexSentence(Connective.NOT, newSymbol(PERCEPT_GLITTER, time)));
}
if (p.isBump()) {
tell(newSymbol(PERCEPT_BUMP, time));
} else {
tell(new ComplexSentence(Connective.NOT, newSymbol(PERCEPT_BUMP, time)));
}
if (p.isScream()) {
tell(newSymbol(PERCEPT_SCREAM, time));
} else {
tell(new ComplexSentence(Connective.NOT, newSymbol(PERCEPT_SCREAM, time)));
}
}
/**
* TELL the KB the temporal "physics" sentences for time t
*
* @param t
* current time step.
*/
public void tellTemporalPhysicsSentences(int t) {
if (t == 0) {
// temporal rules at time zero
tell(newSymbol(LOCATION, 0, 1, 1));
tell(newSymbol(FACING_EAST, 0));
tell(newSymbol(HAVE_ARROW, 0));
tell(newSymbol(WUMPUS_ALIVE, 0));
}
// We can connect stench and breeze percepts directly
// to the properties of the squares where they are experienced
// through the location fluent as follows. For any time step t
// and any square [x,y], we assert
for (int x = 1; x <= caveXDimension; x++) {
for (int y = 1; y <= caveYDimension; y++) {
tell(new ComplexSentence(
newSymbol(LOCATION, t, x, y),
Connective.IMPLICATION,
new ComplexSentence(newSymbol(PERCEPT_BREEZE, t), Connective.BICONDITIONAL, newSymbol(BREEZE, x, y))));
tell(new ComplexSentence(
newSymbol(LOCATION, t, x, y),
Connective.IMPLICATION,
new ComplexSentence(newSymbol(PERCEPT_STENCH, t), Connective.BICONDITIONAL, newSymbol(STENCH, x, y))));
}
}
//
// Successor state axioms (dependent on location)
for (int x = 1; x <= caveXDimension; x++) {
for (int y = 1; y <= caveYDimension; y++) {
// Location
List<Sentence> locDisjuncts = new ArrayList<Sentence>();
locDisjuncts.add(new ComplexSentence(
newSymbol(LOCATION, t, x, y),
Connective.AND,
new ComplexSentence(
new ComplexSentence(Connective.NOT, newSymbol(ACTION_FORWARD, t)),
Connective.OR,
newSymbol(PERCEPT_BUMP, t+1))));
if (x > 1) { // West room is possible
locDisjuncts.add(new ComplexSentence(
newSymbol(LOCATION, t, x-1, y),
Connective.AND,
new ComplexSentence(
newSymbol(FACING_EAST, t),
Connective.AND,
newSymbol(ACTION_FORWARD, t))));
}
if (y < caveYDimension) { // North room is possible
locDisjuncts.add(new ComplexSentence(
newSymbol(LOCATION, t, x, y+1),
Connective.AND,
new ComplexSentence(
newSymbol(FACING_SOUTH, t),
Connective.AND,
newSymbol(ACTION_FORWARD, t))));
}
if (x < caveXDimension) { // East room is possible
locDisjuncts.add(new ComplexSentence(
newSymbol(LOCATION, t, x+1, y),
Connective.AND,
new ComplexSentence(
newSymbol(FACING_WEST, t),
Connective.AND,
newSymbol(ACTION_FORWARD, t))));
}
if (y > 1) { // South room is possible
locDisjuncts.add(new ComplexSentence(
newSymbol(LOCATION, t, x, y-1),
Connective.AND,
new ComplexSentence(
newSymbol(FACING_NORTH, t),
Connective.AND,
newSymbol(ACTION_FORWARD, t))));
}
tell(new ComplexSentence(
newSymbol(LOCATION, t+1, x, y),
Connective.BICONDITIONAL,
Sentence.newDisjunction(locDisjuncts)));
// The most important question for the agent is whether
// a square is OK to move into, that is, the square contains
// no pit nor live wumpus.
tell(new ComplexSentence(
newSymbol(OK_TO_MOVE_INTO, t, x, y),
Connective.BICONDITIONAL,
new ComplexSentence(
new ComplexSentence(Connective.NOT, newSymbol(PIT, x, y)),
Connective.AND,
new ComplexSentence(Connective.NOT,
new ComplexSentence(
newSymbol(WUMPUS, x, y),
Connective.AND,
newSymbol(WUMPUS_ALIVE, t))))));
}
}
//
// Successor state axioms (independent of location)
// Rules about current orientation
// Facing North
tell(new ComplexSentence(
newSymbol(FACING_NORTH, t+1),
Connective.BICONDITIONAL,
Sentence.newDisjunction(
new ComplexSentence(newSymbol(FACING_WEST, t), Connective.AND, newSymbol(ACTION_TURN_RIGHT, t)),
new ComplexSentence(newSymbol(FACING_EAST, t), Connective.AND, newSymbol(ACTION_TURN_LEFT, t)),
new ComplexSentence(newSymbol(FACING_NORTH, t),
Connective.AND,
new ComplexSentence(
new ComplexSentence(Connective.NOT, newSymbol(ACTION_TURN_LEFT, t)),
Connective.AND,
new ComplexSentence(Connective.NOT, newSymbol(ACTION_TURN_RIGHT, t))))
)));
// Facing South
tell(new ComplexSentence(
newSymbol(FACING_SOUTH, t+1),
Connective.BICONDITIONAL,
Sentence.newDisjunction(
new ComplexSentence(newSymbol(FACING_WEST, t), Connective.AND, newSymbol(ACTION_TURN_LEFT, t)),
new ComplexSentence(newSymbol(FACING_EAST, t), Connective.AND, newSymbol(ACTION_TURN_RIGHT, t)),
new ComplexSentence(newSymbol(FACING_SOUTH, t),
Connective.AND,
new ComplexSentence(
new ComplexSentence(Connective.NOT, newSymbol(ACTION_TURN_LEFT, t)),
Connective.AND,
new ComplexSentence(Connective.NOT, newSymbol(ACTION_TURN_RIGHT, t))))
)));
// Facing East
tell(new ComplexSentence(
newSymbol(FACING_EAST, t+1),
Connective.BICONDITIONAL,
Sentence.newDisjunction(
new ComplexSentence(newSymbol(FACING_NORTH, t), Connective.AND, newSymbol(ACTION_TURN_RIGHT, t)),
new ComplexSentence(newSymbol(FACING_SOUTH, t), Connective.AND, newSymbol(ACTION_TURN_LEFT, t)),
new ComplexSentence(newSymbol(FACING_EAST, t),
Connective.AND,
new ComplexSentence(
new ComplexSentence(Connective.NOT, newSymbol(ACTION_TURN_LEFT, t)),
Connective.AND,
new ComplexSentence(Connective.NOT, newSymbol(ACTION_TURN_RIGHT, t))))
)));
// Facing West
tell(new ComplexSentence(
newSymbol(FACING_WEST, t+1),
Connective.BICONDITIONAL,
Sentence.newDisjunction(
new ComplexSentence(newSymbol(FACING_NORTH, t), Connective.AND, newSymbol(ACTION_TURN_LEFT, t)),
new ComplexSentence(newSymbol(FACING_SOUTH, t), Connective.AND, newSymbol(ACTION_TURN_RIGHT, t)),
new ComplexSentence(newSymbol(FACING_WEST, t),
Connective.AND,
new ComplexSentence(
new ComplexSentence(Connective.NOT, newSymbol(ACTION_TURN_LEFT, t)),
Connective.AND,
new ComplexSentence(Connective.NOT, newSymbol(ACTION_TURN_RIGHT, t))))
)));
// Rule about the arrow
tell(new ComplexSentence(
newSymbol(HAVE_ARROW, t+1),
Connective.BICONDITIONAL,
new ComplexSentence(
newSymbol(HAVE_ARROW, t),
Connective.AND,
new ComplexSentence(Connective.NOT, newSymbol(ACTION_SHOOT, t)))));
// Rule about wumpus (dead or alive)
tell(new ComplexSentence(
newSymbol(WUMPUS_ALIVE, t+1),
Connective.BICONDITIONAL,
new ComplexSentence(
newSymbol(WUMPUS_ALIVE, t),
Connective.AND,
new ComplexSentence(Connective.NOT, newSymbol(PERCEPT_SCREAM, t+1)))));
}
@Override
public String toString() {
List<Sentence> sentences = getSentences();
if (sentences.size() == 0) {
return "";
} else {
boolean first = true;
StringBuilder sb = new StringBuilder();
for (Sentence s : sentences) {
if (!first) {
sb.append("\n");
}
sb.append(s.toString());
first = false;
}
return sb.toString();
}
}
public PropositionSymbol newSymbol(String prefix, int timeStep) {
return new PropositionSymbol(prefix+"_"+timeStep);
}
public PropositionSymbol newSymbol(String prefix, int x, int y) {
return new PropositionSymbol(prefix+"_"+x+"_"+y);
}
public PropositionSymbol newSymbol(String prefix, int timeStep, int x, int y) {
return newSymbol(newSymbol(prefix, timeStep).toString(), x, y);
}
}