Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation

The Rapidly-exploring Random Tree (RRT) algorithm has been one of the most prevalent and popular motion-planning techniques for two decades now. Surprisingly, in spite of its centrality, there has been an active debate under which conditions RRT is probabilistically complete. We provide two new proofs of probabilistic completeness (PC) of RRT with a reduced set of assumptions. The first one for the purely geometric setting, where we only require that the solution path has a certain clearance from the obstacles. For the kinodynamic case with forward propagation of random controls and duration, we only consider in addition mild Lipschitz-continuity conditions. These proofs fill a gap in the study of RRT itself. They also lay sound foundations for a variety of more recent and alternative sampling-based methods, whose PC property relies on that of RRT

Explanation-based learning for diagnosis

Diagnostic expert systems constructed using traditional knowledge-engineering techniques identify malfunctioning components using rules that associate symptoms with diagnoses. Model-based diagnosis (MBD) systems use models of devices to find faults given observations of abnormal behavior. These approaches to diagnosis are complementary. We consider hybrid diagnosis systems that include both associational and model-based diagnostic components. We present results on explanation-based learning (EBL) methods aimed at improving the performance of hybrid diagnostic problem solvers. We describe two architectures called EBL_IA and EBL(p). EBL_IA is a form fo "learning in advance" that pre-compiles models into associations. At run-time the diagnostic system is purely associational. In EBL(p), the run-time diagnosis system contains associational, MBD, and EBL components. Learned associational rules are preferred but when they are incomplete they may produce too many incorrect diagnoses. When errors cause performance to dip below a give threshold p, EBL(p) activates MBD and explanation-based "learning while doing". We present results of empirical studies comparing MBD without learning versus EBL_IA and EBL(p). The main conclusions are as follows. EBL_IA is superior when it is feasible but it is not feasible for large devices. EBL(p) can speed-up MBD and scale-up to larger devices in situations where perfect accuracy is not required

A Reasoner for Calendric and Temporal Data

Calendric and temporal data are omnipresent in countless Web and Semantic Web applications and Web services. Calendric and temporal data are probably more than any other data a subject to interpretation, in almost any case depending on some cultural, legal, professional, and/or locational context. On the current Web, calendric and temporal data can hardly be interpreted by computers. This article contributes to the Semantic Web, an endeavor aiming at enhancing the current Web with well-defined meaning and to enable computers to meaningfully process data. The contribution is a reasoner for calendric and temporal data. This reasoner is part of CaTTS, a type language for calendar definitions. The reasoner is based on a \theory reasoning" approach using constraint solving techniques. This reasoner complements general purpose \axiomatic reasoning" approaches for the Semantic Web as widely used with ontology languages like OWL or RDF

Generalizing backdoors

Abstract. A powerful intuition in the design of search methods is that one wants to proactively select variables that simplify the problem instance as much as possible when these variables are assigned values. The notion of “Backdoor ” variables follows this intuition. In this work we generalize Backdoors in such a way to allow more general classes of sub-solvers, both complete and heuristic. In order to do so, Pseudo-Backdoors and Heuristic-Backdoors are formally introduced and then applied firstly to a simple Multiple Knapsack Problem and secondly to a complex combinatorial optimization problem in the area of stochastic inventory control. Our preliminary computational experience shows the effectiveness of these approaches that are able to produce very low run times and — in the case of Heuristic-Backdoors — high quality solutions by employing very simple heuristic rules such as greedy local search strategies.

An LP-Based Approach for Goal Recognition as Planning

Goal recognition aims to recognize the set of candidate goals that are compatible with the observed behavior of an agent. In this paper, we develop a method based on the operator-counting framework that efficiently computes solutions that satisfy the observations and uses the information generated to solve goal recognition tasks. Our method reasons explicitly about both partial and noisy observations: estimating uncertainty for the former, and satisfying observations given the unreliability of the sensor for the latter. We evaluate our approach empirically over a large data set, analyzing its components on how each can impact the quality of the solutions. In general, our approach is superior to previous methods in terms of agreement ratio, accuracy, and spread. Finally, our approach paves the way for new research on combinatorial optimization to solve goal recognition tasks.Comment: 8 pages, 4 tables, 3 figures. Published in AAAI 2021. Updated final authorship and tex

Long range science scheduling for the Hubble Space Telescope

Observations with NASA's Hubble Space Telescope (HST) are scheduled with the assistance of a long-range scheduling system (SPIKE) that was developed using artificial intelligence techniques. In earlier papers, the system architecture and the constraint representation and propagation mechanisms were described. The development of high-level automated scheduling tools, including tools based on constraint satisfaction techniques and neural networks is described. The performance of these tools in scheduling HST observations is discussed