Open AccessProceedings Article
Plan stability: replanning versus plan repair
Maria Fox,Alfonso Gerevini,Derek Long,Ivan Serina +3 more
- pp 212-221
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TLDR
This work presents arguments to support the claim that plan stability is a valuable property, and proposes an implementation, based on LPG, of a plan repair strategy that adapts a plan to its new context.Abstract:
The ultimate objective in planning is to construct plans for execution. However, when a plan is executed in a real environment it can encounter differences between the expected and actual context of execution. These differences can manifest as divergences between the expected and observed states of the world, or as a change in the goals to be achieved by the plan. In both cases, the old plan must be replaced with a new one. In replacing the plan an important consideration is plan stability. We compare two alternative strategies for achieving the stable repair of a plan: one is simply to replan from scratch and the other is to adapt the existing plan to the new context.
We present arguments to support the claim that plan stability is a valuable property. We then propose an implementation, based on LPG, of a plan repair strategy that adapts a plan to its new context. We demonstrate empirically that our plan repair strategy achieves more stability than replanning and can produce repaired plans more efficiently than replanning.read more
Citations
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Deliberation for autonomous robots: A survey
Félix Ingrand,Malik Ghallab +1 more
TL;DR: A global overview of deliberation functions in robotics is presented and the main characteristics, design choices and constraints of these functions are discussed.
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The actor's view of automated planning and acting: A position paper
TL;DR: This paper advocates a change in focus to actors as the primary topic of investigation, and discusses open problems and research directions toward that objective in knowledge representations, model acquisition and verification, synthesis and refinement, monitoring, goal reasoning, and integration.
Journal ArticleDOI
Generating diverse plans to handle unknown and partially known user preferences
Tuan Nguyen,Minh Binh Do,Alfonso Gerevini,Ivan Serina,Biplav Srivastava,Subbarao Kambhampati +5 more
TL;DR: This paper proposes the usage of different measures to capture the quality of plan sets and investigates various heuristic approaches to generate sets of plans in accordance with these measures, and presents empirical results that demonstrate the promise of these methods.
Proceedings Article
Domain independent approaches for finding diverse plans
Biplav Srivastava,Tuan Nguyen,Alfonso Gerevini,Subbarao Kambhampati,Minh Binh Do,Ivan Serina +5 more
TL;DR: It is described how two representative state-of-the-art domain independent planning approaches - one based on compilation to CSP, and the other based on heuristic local search - can be adapted to produce diverse plans.
Proceedings ArticleDOI
HAC-ER: A Disaster Response System based on Human-Agent Collectives
Sarvapali D. Ramchurn,Trung Dong Huynh,Yuki Ikuno,Jack Flann,Feng Wu,Luc Moreau,Nicholas R. Jennings,Joel E. Fischer,Wenchao Jiang,Tom Rodden,Edwin Simpson,Steven Reece,Stephen J. Roberts +12 more
TL;DR: HAC-ER demonstrates how such Human-Agent Collectives (HACs) can address key challenges in disaster response and utilises crowdsourcing combined with machine learning to obtain most important situational awareness from large streams of reports posted by members of the public and trusted organisations.
References
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Journal ArticleDOI
Using temporal logics to express search control knowledge for planning
Fahiem Bacchus,Froduald Kabanza +1 more
TL;DR: This work shows how domain dependent search control knowledge can be represented in a temporal logic, and then utilized to effectively control a forward-chaining planner.
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The metric-FF planning system: translating Ignoring delete lists to numeric state variables
TL;DR: A natural extension of "ignoring delete lists" to numeric state variables is presented, preserving the relevant theoretical properties of the STRIPS relaxation under the condition that the numeric task at hand is "monotonic".
Journal ArticleDOI
Planning through stochastic local search and temporal action graphs in LPG
TL;DR: This paper focuses on temporal planning, introducing TA-graphs and proposing some techniques to guide the search in LPG using this representation, and shows that these techniques can be very effective.
Book
Planning and Learning by Analogical Reasoning
TL;DR: The problem solver automates the generation of problem solving cases and automates case storage, leading to efficient case retrieval and analogical replay.