12,374 research outputs found
Progress in AI Planning Research and Applications
Planning has made significant progress since its inception in the 1970s, in terms both of the efficiency and sophistication of its algorithms and representations and its potential for application to real problems. In this paper we sketch the foundations of planning as a sub-field of Artificial Intelligence and the history of its development over the past three decades. Then some of the recent achievements within the field are discussed and provided some experimental data demonstrating the progress that has been made in the application of general planners to realistic and complex problems. The paper concludes by identifying some of the open issues that remain as important challenges for future research in planning
Configurable Strategies for Work-stealing
Work-stealing systems are typically oblivious to the nature of the tasks they
are scheduling. For instance, they do not know or take into account how long a
task will take to execute or how many subtasks it will spawn. Moreover, the
actual task execution order is typically determined by the underlying task
storage data structure, and cannot be changed. There are thus possibilities for
optimizing task parallel executions by providing information on specific tasks
and their preferred execution order to the scheduling system.
We introduce scheduling strategies to enable applications to dynamically
provide hints to the task-scheduling system on the nature of specific tasks.
Scheduling strategies can be used to independently control both local task
execution order as well as steal order. In contrast to conventional scheduling
policies that are normally global in scope, strategies allow the scheduler to
apply optimizations on individual tasks. This flexibility greatly improves
composability as it allows the scheduler to apply different, specific
scheduling choices for different parts of applications simultaneously. We
present a number of benchmarks that highlight diverse, beneficial effects that
can be achieved with scheduling strategies. Some benchmarks (branch-and-bound,
single-source shortest path) show that prioritization of tasks can reduce the
total amount of work compared to standard work-stealing execution order. For
other benchmarks (triangle strip generation) qualitatively better results can
be achieved in shorter time. Other optimizations, such as dynamic merging of
tasks or stealing of half the work, instead of half the tasks, are also shown
to improve performance. Composability is demonstrated by examples that combine
different strategies, both within the same kernel (prefix sum) as well as when
scheduling multiple kernels (prefix sum and unbalanced tree search)
Dynamic Consistency of Conditional Simple Temporal Networks via Mean Payoff Games: a Singly-Exponential Time DC-Checking
Conditional Simple Temporal Network (CSTN) is a constraint-based
graph-formalism for conditional temporal planning. It offers a more flexible
formalism than the equivalent CSTP model of Tsamardinos, Vidal and Pollack,
from which it was derived mainly as a sound formalization. Three notions of
consistency arise for CSTNs and CSTPs: weak, strong, and dynamic. Dynamic
consistency is the most interesting notion, but it is also the most challenging
and it was conjectured to be hard to assess. Tsamardinos, Vidal and Pollack
gave a doubly-exponential time algorithm for deciding whether a CSTN is
dynamically-consistent and to produce, in the positive case, a dynamic
execution strategy of exponential size. In the present work we offer a proof
that deciding whether a CSTN is dynamically-consistent is coNP-hard and provide
the first singly-exponential time algorithm for this problem, also producing a
dynamic execution strategy whenever the input CSTN is dynamically-consistent.
The algorithm is based on a novel connection with Mean Payoff Games, a family
of two-player combinatorial games on graphs well known for having applications
in model-checking and formal verification. The presentation of such connection
is mediated by the Hyper Temporal Network model, a tractable generalization of
Simple Temporal Networks whose consistency checking is equivalent to
determining Mean Payoff Games. In order to analyze the algorithm we introduce a
refined notion of dynamic-consistency, named \epsilon-dynamic-consistency, and
present a sharp lower bounding analysis on the critical value of the reaction
time \hat{\varepsilon} where the CSTN transits from being, to not being,
dynamically-consistent. The proof technique introduced in this analysis of
\hat{\varepsilon} is applicable more in general when dealing with linear
difference constraints which include strict inequalities
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