Planning Graph as a (Dynamic) CSP: Exploiting EBL, DDB and other CSP Search Techniques in Graphplan

This paper reviews the connections between Graphplan's planning-graph and the dynamic constraint satisfaction problem and motivates the need for adapting CSP search techniques to the Graphplan algorithm. It then describes how explanation based learning, dependency directed backtracking, dynamic variable ordering, forward checking, sticky values and random-restart search strategies can be adapted to Graphplan. Empirical results are provided to demonstrate that these augmentations improve Graphplan's performance significantly (up to 1000x speedups) on several benchmark problems. Special attention is paid to the explanation-based learning and dependency directed backtracking techniques as they are empirically found to be most useful in improving the performance of Graphplan

The 1990 progress report and future plans

This document describes the progress and plans of the Artificial Intelligence Research Branch (RIA) at ARC in 1990. Activities span a range from basic scientific research to engineering development and to fielded NASA applications, particularly those applications that are enabled by basic research carried out at RIA. Work is conducted in-house and through collaborative partners in academia and industry. Our major focus is on a limited number of research themes with a dual commitment to technical excellence and proven applicability to NASA short, medium, and long-term problems. RIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at JPL and AI applications groups at all NASA centers

Working Notes from the 1992 AAAI Spring Symposium on Practical Approaches to Scheduling and Planning

The symposium presented issues involved in the development of scheduling systems that can deal with resource and time limitations. To qualify, a system must be implemented and tested to some degree on non-trivial problems (ideally, on real-world problems). However, a system need not be fully deployed to qualify. Systems that schedule actions in terms of metric time constraints typically represent and reason about an external numeric clock or calendar and can be contrasted with those systems that represent time purely symbolically. The following topics are discussed: integrating planning and scheduling; integrating symbolic goals and numerical utilities; managing uncertainty; incremental rescheduling; managing limited computation time; anytime scheduling and planning algorithms, systems; dependency analysis and schedule reuse; management of schedule and plan execution; and incorporation of discrete event techniques

Multilevel semantic analysis and problem-solving in the flight domain

A computer based cockpit system which is capable of assisting the pilot in such important tasks as monitoring, diagnosis, and trend analysis was developed. The system is properly organized and is endowed with a knowledge base so that it enhances the pilot's control over the aircraft while simultaneously reducing his workload

Logic programming for deliberative robotic task planning

Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient deliberation. Task planning is a key element of deliberation. It combines elementary operations into a structured plan to satisfy a prescribed goal, given specifications on the robot and the environment. In this manuscript, we present a survey on recent advances in the application of logic programming to the problem of task planning. Logic programming offers several advantages compared to other approaches, including greater expressivity and interpretability which may aid in the development of safe and reliable robots. We analyze different planners and their suitability for specific robotic applications, based on expressivity in domain representation, computational efficiency and software implementation. In this way, we support the robotic designer in choosing the best tool for his application

Solving the Resource Constrained Project Scheduling Problem with Generalized Precedences by Lazy Clause Generation

The technical report presents a generic exact solution approach for minimizing the project duration of the resource-constrained project scheduling problem with generalized precedences (Rcpsp/max). The approach uses lazy clause generation, i.e., a hybrid of finite domain and Boolean satisfiability solving, in order to apply nogood learning and conflict-driven search on the solution generation. Our experiments show the benefit of lazy clause generation for finding an optimal solutions and proving its optimality in comparison to other state-of-the-art exact and non-exact methods. The method is highly robust: it matched or bettered the best known results on all of the 2340 instances we examined except 3, according to the currently available data on the PSPLib. Of the 631 open instances in this set it closed 573 and improved the bounds of 51 of the remaining 58 instances.Comment: 37 pages, 3 figures, 16 table

Informed selection and use of training examples for knowledge refinement.

Knowledge refinement tools seek to correct faulty rule-based systems by identifying and repairing faults indicated by training examples that provide evidence of faults. This thesis proposes mechanisms that improve the effectiveness and efficiency of refinement tools by the best use and selection of training examples. The refinement task is sufficiently complex that the space of possible refinements demands a heuristic search. Refinement tools typically use hill-climbing search to identify suitable repairs but run the risk of getting caught in local optima. A novel contribution of this thesis is solving the local optima problem by converting the hill-climbing search into a best-first search that can backtrack to previous refinement states. The thesis explores how different backtracking heuristics and training example ordering heuristics affect refinement effectiveness and efficiency. Refinement tools rely on a representative set of training examples to identify faults and influence repair choices. In real environments it is often difficult to obtain a large set of training examples, since each problem-solving task must be labelled with the expert's solution. Another novel aspect introduced in this thesis is informed selection of examples for knowledge refinement, where suitable examples are selected from a set of unlabelled examples, so that only the subset requires to be labelled. Conversely, if a large set of labelled examples is available, it still makes sense to have mechanisms that can select a representative set of examples beneficial for the refinement task, thereby avoiding unnecessary example processing costs. Finally, an experimental evaluation of example utilisation and selection strategies on two artificial domains and one real application are presented. Informed backtracking is able to effectively deal with local optima by moving search to more promising areas, while informed ordering of training examples reduces search effort by ensuring that more pressing faults are dealt with early on in the search. Additionally, example selection methods achieve similar refinement accuracy with significantly fewer examples