A Normal Form for Classical Planning Tasks

We describe transition normal form (TNF) for classical plan- ning tasks, where there is a unique goal state and variables occur in an operator precondition iff they appear in the effect. Tasks can be efficiently converted to TNF, all common plan- ning heuristics are invariant under the transformation, and tasks in normal form are easier to study theoretically

Dynamic whole-body motion generation under rigid contacts and other unilateral constraints

The most widely used technique for generating wholebody motions on a humanoid robot accounting for various tasks and constraints is inverse kinematics. Based on the task-function approach, this class of methods enables the coordination of robot movements to execute several tasks in parallel and account for the sensor feedback in real time, thanks to the low computation cost. To some extent, it also enables us to deal with some of the robot constraints (e.g., joint limits or visibility) and manage the quasi-static balance of the robot. In order to fully use the whole range of possible motions, this paper proposes extending the task-function approach to handle the full dynamics of the robot multibody along with any constraint written as equality or inequality of the state and control variables. The definition of multiple objectives is made possible by ordering them inside a strict hierarchy. Several models of contact with the environment can be implemented in the framework. We propose a reduced formulation of the multiple rigid planar contact that keeps a low computation cost. The efficiency of this approach is illustrated by presenting several multicontact dynamic motions in simulation and on the real HRP-2 robot

Synthesizing and executing plans in Knowledge and Action Bases

We study plan synthesis for a variant of Knowledge and Action Bases (KABs). KABs have been recently introduced as a rich, dynamic framework where states are full-fledged description logic (DL) knowledge bases (KBs) whose extensional part is manipulated by actions that can introduce new objects from an infinite domain. We show that, in general, plan existence over KABs is undecidable even under severe restrictions. We then focus on the class of state-bounded KABs, for which plan existence is decidable, and we provide sound and complete plan synthesis algorithms, through a novel combination of techniques based on standard planning, DL query answering, and finite-state abstractions. All results hold for any DL with decidable query answering. We finally show that for lightweight DLs, plan synthesis can be compiled into standard ADL planning. © 2016, CEUR-WS. All rights reserved

Tasks, cognitive agents, and KB-DSS in workflow and process management

The purpose of this paper is to propose a nonparametric interest rate term structure model and investigate its implications on term structure dynamics and prices of interest rate derivative securities. The nonparametric spot interest rate process is estimated from the observed short-term interest rates following a robust estimation procedure and the market price of interest rate risk is estimated as implied from the historical term structure data. That is, instead of imposing a priori restrictions on the model, data are allowed to speak for themselves, and at the same time the model retains a parsimonious structure and the computational tractability. The model is implemented using historical Canadian interest rate term structure data. The parametric models with closed form solutions for bond and bond option prices, namely the Vasicek (1977) and CIR (1985) models, are also estimated for comparison purpose. The empirical results not only provide strong evidence that the traditional spot interest rate models and market prices of interest rate risk are severely misspecified but also suggest that different model specifications have significant impact on term structure dynamics and prices of interest rate derivative securities.