block of worlds with position aware goal stack planning Can someone suggest an AI approach to moving blocks, one at a time, assuming control of an robotic arm, to get from the initial state on the left to the final state on right, preferably using goal stack planning.

actions


Pickup() &mdash; to pick up a block from table only
Putdown &mdash; to putdown a block on table only
Unstack &mdash; unstack a block from another block
Stack &mdash; stack a block on another clear block only


property functions


On(x,y)
Above(x,y)
Table(x)
Clear(x)
Your best bet would be to formulate the problem in PDDL, which should be fairly easy, and then use a standard planner to generate a plan from that description.
In PDDL you describe the properties and the possible actions, the start state and the goal state, and the planner will then take this to produce a sequence of actions that leads from the start state to the goal state. There is a planner available on-line that you can use.