Planning Graph Heuristics for Belief Space Search

Some recent works in conditional planning have proposed reachability heuristics to improve planner scalability, but many lack a formal description of the properties of their distance estimates. To place previous work in context and extend work on heuristics for conditional planning, we provide a formal basis for distance estimates between belief states. We give a definition for the distance between belief states that relies on aggregating underlying state distance measures. We give several techniques to aggregate state distances and their associated properties. Many existing heuristics exhibit a subset of the properties, but in order to provide a standardized comparison we present several generalizations of planning graph heuristics that are used in a single planner. We compliment our belief state distance estimate framework by also investigating efficient planning graph data structures that incorporate BDDs to compute the most effective heuristics. We developed two planners to serve as test-beds for our investigation. The first, CAltAlt, is a conformant regression planner that uses A* search. The second, POND, is a conditional progression planner that uses AO* search. We show the relative effectiveness of our heuristic techniques within these planners. We also compare the performance of these planners with several state of the art approaches in conditional planning

Improving estimates of the number of fake leptons and other mis-reconstructed objects in hadron collider events: BoB's your UNCLE. (Previously "The Matrix Method Reloaded")

We consider current and alternative approaches to setting limits on new physics signals having backgrounds from misidentified objects; for example jets misidentified as leptons, b-jets or photons. Many ATLAS and CMS analyses have used a heuristic matrix method for estimating the background contribution from such sources. We demonstrate that the matrix method suffers from statistical shortcomings that can adversely affect its ability to set robust limits. A rigorous alternative method is discussed, and is seen to produce fake rate estimates and limits with better qualities, but is found to be too costly to use. Having investigated the nature of the approximations used to derive the matrix method, we propose a third strategy that is seen to marry the speed of the matrix method to the performance and physicality of the more rigorous approach.Comment: v1 :11 pages, 5 figures. v2: title change requested by referee, and other corrections/clarifications found during review. v3: final tweaks suggested during review + move from revtex to jhep styl

Online, interactive user guidance for high-dimensional, constrained motion planning

We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that try to speed up planning by incorporating experiences or demonstrations ahead of planning, we suggest to seek user guidance only when the planner identifies that it ceases to make significant progress towards the goal. Guidance is provided in the form of an intermediate configuration $\hat{q}$, which is used to bias the planner to go through $\hat{q}$. We demonstrate our approach for the case where the planning algorithm is Multi-Heuristic A* (MHA*) and the robot is a 34-DOF humanoid. We show that our approach allows to compute highly-constrained paths with little domain knowledge. Without our approach, solving such problems requires carefully-crafting domain-dependent heuristics

Decision-theoretic control of EUVE telescope scheduling

This paper describes a decision theoretic scheduler (DTS) designed to employ state-of-the-art probabilistic inference technology to speed the search for efficient solutions to constraint-satisfaction problems. Our approach involves assessing the performance of heuristic control strategies that are normally hard-coded into scheduling systems and using probabilistic inference to aggregate this information in light of the features of a given problem. The Bayesian Problem-Solver (BPS) introduced a similar approach to solving single agent and adversarial graph search patterns yielding orders-of-magnitude improvement over traditional techniques. Initial efforts suggest that similar improvements will be realizable when applied to typical constraint-satisfaction scheduling problems

Online, interactive user guidance for high-dimensional, constrained motion planning

We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that try to speed up planning by incorporating experiences or demonstrations ahead of planning, we suggest to seek user guidance only when the planner identifies that it ceases to make significant progress towards the goal. Guidance is provided in the form of an intermediate configuration $\hat{q}$, which is used to bias the planner to go through $\hat{q}$. We demonstrate our approach for the case where the planning algorithm is Multi-Heuristic A* (MHA*) and the robot is a 34-DOF humanoid. We show that our approach allows to compute highly-constrained paths with little domain knowledge. Without our approach, solving such problems requires carefully-crafting domain-dependent heuristics

Planning complex engineer-to-order products

The design and manufacture of complex Engineer-to-Order products is characterised by uncertain operation durations, finite capacity resources and multilevel product structures. Two scheduling methods are presented to minimise expected costs for multiple products across multiple finite capacity resources. The first sub-optimises the operations sequence, using mean operation durations, then refines the schedule by perturbation. The second method generates a schedule of start times directly by random search with an embedded simulation of candidate schedules for evaluation. The methods are compared for industrial examples