Lecture #19 looked at simple approaches to planning using STRIPS and some of the issues involved in combining planning and acting.
Notes are available in four formats:
This lecture covers material from three chapters. The material on the Sense/Plan/Act cycle from Chapter 10 (pages 163-165), on Planning from Chapter 22, (pages 373-386) and some of the issues in representing actions in logic from Chapter 21 (pages 363-368). As ever you should read this through.
You should also read the material from Chapters 21 and 22 which I didn't cover (roughly pages 369-370 and 387-398).
The original paper on the STRIPS approach was:
R. E. Fikes and N. J. Nilsson. STRIPS: A new approach to theorem proving in problem solving. Artificial Intelligence, 2:189--208, 1971