Validating plans with exogenous events

We are concerned with the problem of deciding the validity of a complex plan involving interacting continuous activity. In these situations there is a need to model and reason about the continuous processes and events that arise as a consequence of the behaviour of the physical world in which the plan is expected to execute. In this paper we describe how events, which occur as the outcome of uncontrolled physical processes, can be taken into account in determining whether a plan is valid with respect to the domain model. We do not consider plan generation issues in this paper but focus instead on issues in domain modelling and plan validation

Compilation d'un langage de planification temporelle de haut niveau en PDDL2.1

Session "Articles"National audienceEn planification, la puissance d'expression du langage dans lequel on exprime les instances des problèmes est importante. Un langage riche avantage l'utilisateur lorsqu'il doit encoder ses problèmes alors qu'un langage simple avantage le programmeur qui doit implémenter un planificateur capable de résoudre tous les problèmes pouvant être exprimés dans ce langage. Considérant le langage de planification temporelle PDDL 2.1 comme un langage de bas niveau, nous montrons ici comment compiler automatiquement un langage plus riche en PDDL 2.1. Dans le pire des cas, la complexité de notre transformation est quadratique. Notre langage de haut niveau permet à l'utilisateur de créer des time-points et d'imposer des contraintes temporelles simples entre eux. Les conditions et effets des actions peuvent leur être associés ainsi qu'à des intervalles et à des intervalles flottants à l'intérieur d'intervalles fixes. Notre langage permet également de modéliser des transitions non-instantanée

On-board timeline validation and repair : a feasibility study

We report on the progress and outcome of a recent ESAfunded project (MMOPS) designed to explore the feasibility of on-board reasoning about payload timelines. The project sought to examine the role of on-board timeline reasoning and the operational context into which it would fit. We framed a specification for an on-board service that fits with existing practices and represents a plausible advance within sensible constraints on the progress of operations planning. We have implemented a prototype to demonstrate the feasibility of such a system and have used it to show how science gathering operations might be improved by its deployment

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

The Metric-FF Planning System: Translating "Ignoring Delete Lists" to Numeric State Variables

Planning with numeric state variables has been a challenge for many years, and was a part of the 3rd International Planning Competition (IPC-3). Currently one of the most popular and successful algorithmic techniques in STRIPS planning is to guide search by a heuristic function, where the heuristic is based on relaxing the planning task by ignoring the delete lists of the available actions. We present a natural extension of ``ignoring delete lists'' to numeric state variables, preserving the relevant theoretical properties of the STRIPS relaxation under the condition that the numeric task at hand is ``monotonic''. We then identify a subset of the numeric IPC-3 competition language, ``linear tasks'', where monotonicity can be achieved by pre-processing. Based on that, we extend the algorithms used in the heuristic planning system FF to linear tasks. The resulting system Metric-FF is, according to the IPC-3 results which we discuss, one of the two currently most efficient numeric planners

CRIKEY! ― It's co-ordination in temporal planning

Temporal planning contains aspects of both planning and scheduling. Many temporal planners assume a loose coupling between these two sub-problems in the form of "blackbox" durative actions, where the state of the world is not known during the action's execution. This reduces the size of the search space and so simplifies the temporal planning problem, restricting what can be modelled. In particular, the simplification makes it impossible to model co-ordination, where actions must be executed concurrently to achieve a desired effect. Coordination results from logical and temporal constraints that must both be met, and for this reason, the planner and scheduler must communicate in order to find a valid temporal plan. This communication effectively increases the size of the search space, so must be done intelligently and as little as possible to limit this increase. This thesis contributes a comprehensive analysis of where temporal constraints appear in temporal planning problems. It introduces the notions of minimum and maximum temporal constraints, and with these isolates where the planning and scheduling are coupled together tightly, in the form of co-ordination, it characterises this with the new concepts of envelopes and contents. A new temporal planner written, called СRIKЕҮ, uses this theory to solve temporal problems involving co-ordination that other planners are unable to solve. However, it does this intelligently, using this theory to minimise the communication between the sub-solvers, and so does not expand the search space unnecessarily. The novel search space that CRIKEY uses docs not specify the timings of future events and this allows for the handling of duration inequalities, which again, few other temporal planners are able to solve. Results presented show СRIKЕҮ to be a competitive planner, whilst not making the same simplifying assumptions that other temporal planners make as to the nature of temporal planning problems