Taming Numbers and Durations in the Model Checking Integrated Planning System

The Model Checking Integrated Planning System (MIPS) is a temporal least commitment heuristic search planner based on a flexible object-oriented workbench architecture. Its design clearly separates explicit and symbolic directed exploration algorithms from the set of on-line and off-line computed estimates and associated data structures. MIPS has shown distinguished performance in the last two international planning competitions. In the last event the description language was extended from pure propositional planning to include numerical state variables, action durations, and plan quality objective functions. Plans were no longer sequences of actions but time-stamped schedules. As a participant of the fully automated track of the competition, MIPS has proven to be a general system; in each track and every benchmark domain it efficiently computed plans of remarkable quality. This article introduces and analyzes the most important algorithmic novelties that were necessary to tackle the new layers of expressiveness in the benchmark problems and to achieve a high level of performance. The extensions include critical path analysis of sequentially generated plans to generate corresponding optimal parallel plans. The linear time algorithm to compute the parallel plan bypasses known NP hardness results for partial ordering by scheduling plans with respect to the set of actions and the imposed precedence relations. The efficiency of this algorithm also allows us to improve the exploration guidance: for each encountered planning state the corresponding approximate sequential plan is scheduled. One major strength of MIPS is its static analysis phase that grounds and simplifies parameterized predicates, functions and operators, that infers knowledge to minimize the state description length, and that detects domain object symmetries. The latter aspect is analyzed in detail. MIPS has been developed to serve as a complete and optimal state space planner, with admissible estimates, exploration engines and branching cuts. In the competition version, however, certain performance compromises had to be made, including floating point arithmetic, weighted heuristic search exploration according to an inadmissible estimate and parameterized optimization

Towards a Simple Relationship to Estimate the Capacity of Static and Mobile Wireless Networks

Extensive research has been done on studying the capacity of wireless multi-hop networks. These efforts have led to many sophisticated and customized analytical studies on the capacity of particular networks. While most of the analyses are intellectually challenging, they lack universal properties that can be extended to study the capacity of a different network. In this paper, we sift through various capacity-impacting parameters and present a simple relationship that can be used to estimate the capacity of both static and mobile networks. Specifically, we show that the network capacity is determined by the average number of simultaneous transmissions, the link capacity and the average number of transmissions required to deliver a packet to its destination. Our result is valid for both finite networks and asymptotically infinite networks. We then use this result to explain and better understand the insights of some existing results on the capacity of static networks, mobile networks and hybrid networks and the multicast capacity. The capacity analysis using the aforementioned relationship often becomes simpler. The relationship can be used as a powerful tool to estimate the capacity of different networks. Our work makes important contributions towards developing a generic methodology for network capacity analysis that is applicable to a variety of different scenarios.Comment: accepted to appear in IEEE Transactions on Wireless Communication

An optimal procedure for the resource-constrained project scheduling problem with discounted cash flows and generalized precedence relations.

In this paper, we study the resource-constrained project scheduling problem (RCPSP) with discounted cash flows and generalized precedence relations (further denoted as RCPSPDC-GPR). The RCPSPDC-GPR extends the RCPSP to (a) arbitrary minimal and maximal time lags between the starting and completion times of activities and (b) the non-regular objective function of maximizing the net present value of the project with positive and/or negative cash flows associated with the activities.). To the best of our knowledge, the literature on the RCPSPDC-GPR is completely void. We present a depth-first branch-and-bound algorithm in which the nodes in the search tree represent the original project network extended with extra precedence relations which resolve a number of resource conflicts. These conflicts are resolved using the concept of a minimal delaying mode (De Reyck and Herroelen, 1996b). An upper bound on the project net present value as well as several dominance rules are used to fathom large portions of the search tree. Extensive computational experience on a randomly generated benchmark problem set is obtained.Scheduling; Optimal; Discounted cash flow; Cash flow;

On-line planning and scheduling: an application to controlling modular printers

We present a case study of artificial intelligence techniques applied to the control of production printing equipment. Like many other real-world applications, this complex domain requires high-speed autonomous decision-making and robust continual operation. To our knowledge, this work represents the first successful industrial application of embedded domain-independent temporal planning. Our system handles execution failures and multi-objective preferences. At its heart is an on-line algorithm that combines techniques from state-space planning and partial-order scheduling. We suggest that this general architecture may prove useful in other applications as more intelligent systems operate in continual, on-line settings. Our system has been used to drive several commercial prototypes and has enabled a new product architecture for our industrial partner. When compared with state-of-the-art off-line planners, our system is hundreds of times faster and often finds better plans. Our experience demonstrates that domain-independent AI planning based on heuristic search can flexibly handle time, resources, replanning, and multiple objectives in a high-speed practical application without requiring hand-coded control knowledge

RESCON: Educational project scheduling software.

In this article we discuss a freely downloadable educational software tool for illustrating project scheduling and project management concepts. The tool features exact and heuristic scheduling procedures and visualizes project networks, project schedules, resource profiles, activity slacks, and project duration distributions.Project scheduling; Project management; Educational software; Visualization; Scheduling algorithms;