Uncertainty in Soft Temporal Constraint Problems:A General Framework and Controllability Algorithms forThe Fuzzy Case

In real-life temporal scenarios, uncertainty and preferences are often essential and coexisting aspects. We present a formalism where quantitative temporal constraints with both preferences and uncertainty can be defined. We show how three classical notions of controllability (that is, strong, weak, and dynamic), which have been developed for uncertain temporal problems, can be generalized to handle preferences as well. After defining this general framework, we focus on problems where preferences follow the fuzzy approach, and with properties that assure tractability. For such problems, we propose algorithms to check the presence of the controllability properties. In particular, we show that in such a setting dealing simultaneously with preferences and uncertainty does not increase the complexity of controllability testing. We also develop a dynamic execution algorithm, of polynomial complexity, that produces temporal plans under uncertainty that are optimal with respect to fuzzy preferences

Human-Machine Collaborative Optimization via Apprenticeship Scheduling

Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years of apprenticeship. A process for manually codifying this domain knowledge within a computational framework is necessary to scale beyond the ``single-expert, single-trainee" apprenticeship model. However, human domain experts often have difficulty describing their decision-making processes, causing the codification of this knowledge to become laborious. We propose a new approach for capturing domain-expert heuristics through a pairwise ranking formulation. Our approach is model-free and does not require enumerating or iterating through a large state space. We empirically demonstrate that this approach accurately learns multifaceted heuristics on a synthetic data set incorporating job-shop scheduling and vehicle routing problems, as well as on two real-world data sets consisting of demonstrations of experts solving a weapon-to-target assignment problem and a hospital resource allocation problem. We also demonstrate that policies learned from human scheduling demonstration via apprenticeship learning can substantially improve the efficiency of a branch-and-bound search for an optimal schedule. We employ this human-machine collaborative optimization technique on a variant of the weapon-to-target assignment problem. We demonstrate that this technique generates solutions substantially superior to those produced by human domain experts at a rate up to 9.5 times faster than an optimization approach and can be applied to optimally solve problems twice as complex as those solved by a human demonstrator.Comment: Portions of this paper were published in the Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper consists of 50 pages with 11 figures and 4 table

Continuous relaxation to over-constrained temporal plans

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2013.This electronic version was submitted and approved by the author's academic department as part of an electronic thesis pilot project. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from department-submitted PDF version of thesis.Includes bibliographical references (p. 165-168).When humans fail to understand the capabilities of an autonomous system or its environmental limitations, they can jeopardize their objectives and the system by asking for unrealistic goals. The objective of this thesis is to enable consensus between human and autonomous system, by giving autonomous systems the ability to communicate to the user the reasons for goal failure and the relaxations to goals that archive feasibility. We represent our problem in the context of temporal plans, a set of timed activities that can represent the goals and constraints proposed by users. Over-constrained temporal plans are commonly encountered while operating autonomous and decision support systems, when user objectives are in conflict with the environment. Over constrained plans are addressed by relaxing goals and or constraints, such as delaying the arrival time of a trip, with some candidate relaxations being preferable to others. In this thesis we present Uhura, a temporal plan diagnosis and relaxation algorithm that is designed to take over-constrained input plans with temporal flexibility and contingencies, and generate temporal relaxations that make the input plan executable. We introduce two innovative approaches within Uhura: collaborative plan diagnosis and continuous relaxation. Uhura focuses on novel ways of satisfying three goals to make the plan relaxation process more convenient for the users: small perturbation, quick response and simple interaction. First, to achieve small perturbation, Uhura resolves over-constrained temporal plans through partial relaxation of goals, more specifically, through the relaxation of schedules. Prior work on temporal relaxations takes an all-or-nothing approach in which timing constraints on goals, such as arrival times to destinations, are completely relaxed in the relaxations. The Continuous Temporal Relaxation method used by Uhura adjusts the temporal bounds of temporal constraints to minimizes the perturbation caused by the relaxations to the goals in the original plan. Second, to achieve quick responses, Uhura introduces Best-first Conflict-directed Relaxation, a new method that efficiently enumerates alternative options in best-first order. The search space of alternative options to temporal planning problems is very large and finding the best one is a NP-hard problem. Uhura empirically demonstrates fast enumeration by unifying methods from minimal relaxation and conflict-directed enumeration methods, first developed for model based diagnosis. Uhura achieves two orders of magnitude improvement in run-time performance relative to state-of-the-art approaches, making it applicable to a larger group of real-world scenarios with complex temporal plans. Finally, to achieve simple interactions, Uhura presents to the user a small set of preferred relaxations in best-first order based on user preference models. By using minimal relaxations to represent alternative options, Uhura simplifies the options presented to the user and reduces the size of its results and improves their expressiveness. Previous work either generates minimal relaxations or full relaxations based on preference, but not minimal relaxations based on preference. Preferred minimal relaxations simplify the interaction in that the users do not have to consider any irrelevant information, and may reach an agreement with the autonomous system faster. Therefore it makes communication between robots and users more convenient and precise. We have incorporated Uhura within an autonomous executive that collaborates with human operators to resolve over-constrained temporal plans. Its effectiveness has been demonstrated both in simulation and in hardware on a Personal Transportation System concept. The average runtime of Uhura on large problems with 200 activities is two order of magnitude lower compared to current approaches. In addition, Uhura has also been used in a driving assistant system to resolve conflicts in driving plans. We believe that Uhura's collaborative temporal plan diagnosis capability can benefit a wide range of applications, both within industrial applications and in our daily lives.by Peng Yu.S.M

Low-cost Addition of Preferences to DTPs and TCSPs

We present an efficient approach to adding soft constraints, in the form of preferences, to Disjunctive Temporal Problems (DTPs) and their subclass Temporal Constraint Satisfaction Problems (TCSPs). Specifically, we describe an algorithm for checking the consistency of and finding optimal solutions to such problems. The algorithm borrows concepts from previous algorithms for solving TCSPs and Simple Temporal Problems with Preferences (STPPs), in both cases using techniques for projecting and solving component sub-problems. We show that adding preferences to DTPs and TCSPs requires only slightly more time than corresponding algorithms for TCSPs and DTPs without preferences. Thus, for problems where DTPs and TCSPs make sense, adding preferences provides a substantial gain in expressiveness for a marginal cost

Proceedings of CSCLP 2007: Annual ERCIM Workshop on Constraint Solving and Constraint Logic Programming

Ce fichier regroupe en un seul document l'ensemble des articles acceptés pour la conférence CSCLP 2007Constraints are a natural way to represent knowledge, and constraint programming is a declarative programming paradigm that has been successfully used to express and solve many practical combinatorial optimization problems. Examples of application domains are scheduling, production planning, resource allocation, communication networks, robotics, and bioinformatics. These proceedings contain the research papers presented at the 12th International Workshop on Constraint Solving and Constraint Logic Programming (CSCLP'07), held on June 7th and 8th 2007, at INRIA Rocquencourt, France. This workshop, open to all, is organized as the twelfth meeting of the working group on Constraints of the European Research Consortium for Informatics and Mathematics (ERCIM). It continues a series of workshops organized since the creation of the working group in 1997, that have led since 2002 to the publication of a series of books entitled ”Recent Advances in Constraints” in the Lecture Notes in Artificial Intelligence, edited by Springer-Verlag. In addition to the contributed papers collected in this volume, two invited talks were given at CSCLP'07, one by Gilles Pesant, Ecole Polytechnique de Montreal, Canada, and one by Jean-Charles R égin, ILOG, France. The editors would like to take the opportunity to thank all the authors who submitted a paper, as well as the reviewers for their helpful work. CSCLP'07 has been made possible thanks to the support of the European Research Consortium for Informatics and Mathematics (ERCIM), the Institut National de la Recherche en Informatique et Automatique (INRIA) and the Association for Constraint programming (ACP)