Numerical Integration and Dynamic Discretization in Heuristic Search Planning over Hybrid Domains

In this paper we look into the problem of planning over hybrid domains, where change can be both discrete and instantaneous, or continuous over time. In addition, it is required that each state on the trajectory induced by the execution of plans complies with a given set of global constraints. We approach the computation of plans for such domains as the problem of searching over a deterministic state model. In this model, some of the successor states are obtained by solving numerically the so-called initial value problem over a set of ordinary differential equations (ODE) given by the current plan prefix. These equations hold over time intervals whose duration is determined dynamically, according to whether zero crossing events take place for a set of invariant conditions. The resulting planner, FS+, incorporates these features together with effective heuristic guidance. FS+ does not impose any of the syntactic restrictions on process effects often found on the existing literature on Hybrid Planning. A key concept of our approach is that a clear separation is struck between planning and simulation time steps. The former is the time allowed to observe the evolution of a given dynamical system before committing to a future course of action, whilst the later is part of the model of the environment. FS+ is shown to be a robust planner over a diverse set of hybrid domains, taken from the existing literature on hybrid planning and systems.Comment: 17 page

COLAB : a hybrid knowledge representation and compilation laboratory

Knowledge bases for real-world domains such as mechanical engineering require expressive and efficient representation and processing tools. We pursue a declarative-compilative approach to knowledge engineering. While Horn logic (as implemented in PROLOG) is well-suited for representing relational clauses, other kinds of declarative knowledge call for hybrid extensions: functional dependencies and higher-order knowledge should be modeled directly. Forward (bottom-up) reasoning should be integrated with backward (top-down) reasoning. Constraint propagation should be used wherever possible instead of search-intensive resolution. Taxonomic knowledge should be classified into an intuitive subsumption hierarchy. Our LISP-based tools provide direct translators of these declarative representations into abstract machines such as an extended Warren Abstract Machine (WAM) and specialized inference engines that are interfaced to each other. More importantly, we provide source-to-source transformers between various knowledge types, both for user convenience and machine efficiency. These formalisms with their translators and transformers have been developed as part of COLAB, a compilation laboratory for studying what we call, respectively, "vertical\u27; and "horizontal\u27; compilation of knowledge, as well as for exploring the synergetic collaboration of the knowledge representation formalisms. A case study in the realm of mechanical engineering has been an important driving force behind the development of COLAB. It will be used as the source of examples throughout the paper when discussing the enhanced formalisms, the hybrid representation architecture, and the compilers

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

ARC-TEC : acquisition, representation and compilation of technical knowledge

A global description of an expert system shell for the domain of mechanical engineering is presented. The ARC-TEC project constitutes an AI approach to realize the CIM idea. Along with conceptual solutions, it provides a continuous sequence of software tools for the acquisition, representation and compilation of technical knowledge. The shell combines the KADS knowledge-acquisition methodology, the KL-ONE representation theory and the WAM compilation technology. For its evaluation a prototypical expert system for production planning is developed. A central part of the system is a knowledge base formalizing the relevant aspects of common sense in mechanical engineering. Thus, ARC-TEC is less general than the CYC project but broader than specific expert systems for planning or diagnosis

Anytime synthetic projection: Maximizing the probability of goal satisfaction

A projection algorithm is presented for incremental control rule synthesis. The algorithm synthesizes an initial set of goal achieving control rules using a combination of situation probability and estimated remaining work as a search heuristic. This set of control rules has a certain probability of satisfying the given goal. The probability is incrementally increased by synthesizing additional control rules to handle 'error' situations the execution system is likely to encounter when following the initial control rules. By using situation probabilities, the algorithm achieves a computationally effective balance between the limited robustness of triangle tables and the absolute robustness of universal plans

CASP Solutions for Planning in Hybrid Domains

CASP is an extension of ASP that allows for numerical constraints to be added in the rules. PDDL+ is an extension of the PDDL standard language of automated planning for modeling mixed discrete-continuous dynamics. In this paper, we present CASP solutions for dealing with PDDL+ problems, i.e., encoding from PDDL+ to CASP, and extensions to the algorithm of the EZCSP CASP solver in order to solve CASP programs arising from PDDL+ domains. An experimental analysis, performed on well-known linear and non-linear variants of PDDL+ domains, involving various configurations of the EZCSP solver, other CASP solvers, and PDDL+ planners, shows the viability of our solution.Comment: Under consideration in Theory and Practice of Logic Programming (TPLP

ERP implementation for an administrative agency as a corporative frontend and an e-commerce smartphone app

This document contains all the descriptions, arguments and demonstrations of the researches, analysis, reasoning, designs and tasks performed to achieve the requirement to technologically evolve an managing agency in a way that, through a solution that requires a reduced investment, makes possible to arrange a business management tool with e-commerce and also a mobile application that allows access and consultation of mentioned tool. The first part of the document describes the scenario in order to contextualize the project and introduces ERP (Enterprise Resources Planning). In the second part, a deep research of ERP market products is carried out, identifying the strengths and weaknesses of each one of the products in order to finish with the choice of the most suitable product for the scenario proposed in the project. A third part of the document describes the installation process of the selected product carried out based on the use of Dockers, as well as the configurations and customizations that they make on the selected ERP. A description of the installation and configuration of additional modules is also made, necessary to achieve the agreed scope of the project. In a fourth part of the thesis, the process of creating an iOS and Android App that connects to the selected ERP database is described. The process begins with the design of the App. Once designed, it is explained the process of study and documentation of technologies to choose the technology stack that allows making an application robust and contemporary without use of licensing. After choosing the technologies to use there are explained the dependencies and needs to install runtime enviornments prior to the start of coding. Later, it describes how the code of the App has been raised and developed. The compilation and verification mechanisms are indicated in continuation. And finally, it is showed the result of the development of the App once distributed. Finally, a chapter for the conclusions analyzes the difficulties encountered during the project and the achievements, analyzing what has been learned during the development of this project

Tupleware: Redefining Modern Analytics

There is a fundamental discrepancy between the targeted and actual users of current analytics frameworks. Most systems are designed for the data and infrastructure of the Googles and Facebooks of the world---petabytes of data distributed across large cloud deployments consisting of thousands of cheap commodity machines. Yet, the vast majority of users operate clusters ranging from a few to a few dozen nodes, analyze relatively small datasets of up to a few terabytes, and perform primarily compute-intensive operations. Targeting these users fundamentally changes the way we should build analytics systems. This paper describes the design of Tupleware, a new system specifically aimed at the challenges faced by the typical user. Tupleware's architecture brings together ideas from the database, compiler, and programming languages communities to create a powerful end-to-end solution for data analysis. We propose novel techniques that consider the data, computations, and hardware together to achieve maximum performance on a case-by-case basis. Our experimental evaluation quantifies the impact of our novel techniques and shows orders of magnitude performance improvement over alternative systems

Fully Observable Non-deterministic Planning as Assumption-Based Reactive Synthesis

We contribute to recent efforts in relating two approaches to automatic synthesis, namely, automated planning and discrete reactive synthesis. First, we develop a declarative characterization of the standard “fairness” assumption on environments in non-deterministic planning, and show that strong-cyclic plans are correct solution concepts for fair environments. This complements, and arguably completes, the existing foundational work on non-deterministic planning, which focuses on characterizing (and computing) plans enjoying special “structural” properties, namely loopy but closed policy structures. Second, we provide an encoding suitable for reactive synthesis that avoids the naive exponential state space blowup. To do so, special care has to be taken to specify the fairness assumption on the environment in a succinct manner.Fil: D'ippolito, Nicolás Roque. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Investigación en Ciencias de la Computación. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Investigación en Ciencias de la Computación; ArgentinaFil: Rodriguez, Natalia. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; ArgentinaFil: Sardina, Sebastian. RMIT University; Australi