The Planning Spectrum - One, Two, Three, Infinity

Linear Temporal Logic (LTL) is widely used for defining conditions on the execution paths of dynamic systems. In the case of dynamic systems that allow for nondeterministic evolutions, one has to specify, along with an LTL formula f, which are the paths that are required to satisfy the formula. Two extreme cases are the universal interpretation A.f, which requires that the formula be satisfied for all execution paths, and the existential interpretation E.f, which requires that the formula be satisfied for some execution path. When LTL is applied to the definition of goals in planning problems on nondeterministic domains, these two extreme cases are too restrictive. It is often impossible to develop plans that achieve the goal in all the nondeterministic evolutions of a system, and it is too weak to require that the goal is satisfied by some execution. In this paper we explore alternative interpretations of an LTL formula that are between these extreme cases. We define a new language that permits an arbitrary combination of the A and E quantifiers, thus allowing, for instance, to require that each finite execution can be extended to an execution satisfying an LTL formula (AE.f), or that there is some finite execution whose extensions all satisfy an LTL formula (EA.f). We show that only eight of these combinations of path quantifiers are relevant, corresponding to an alternation of the quantifiers of length one (A and E), two (AE and EA), three (AEA and EAE), and infinity ((AE)* and (EA)*). We also present a planning algorithm for the new language that is based on an automata-theoretic approach, and study its complexity

Extensional and Intensional Strategies

This paper is a contribution to the theoretical foundations of strategies. We first present a general definition of abstract strategies which is extensional in the sense that a strategy is defined explicitly as a set of derivations of an abstract reduction system. We then move to a more intensional definition supporting the abstract view but more operational in the sense that it describes a means for determining such a set. We characterize the class of extensional strategies that can be defined intensionally. We also give some hints towards a logical characterization of intensional strategies and propose a few challenging perspectives

Fully Observable Non-deterministic Planning as Assumption-Based Reactive Synthesis

We contribute to recent efforts in relating two approaches to automatic synthesis, namely, automated planning and discrete reactive synthesis. First, we develop a declarative characterization of the standard “fairness” assumption on environments in non-deterministic planning, and show that strong-cyclic plans are correct solution concepts for fair environments. This complements, and arguably completes, the existing foundational work on non-deterministic planning, which focuses on characterizing (and computing) plans enjoying special “structural” properties, namely loopy but closed policy structures. Second, we provide an encoding suitable for reactive synthesis that avoids the naive exponential state space blowup. To do so, special care has to be taken to specify the fairness assumption on the environment in a succinct manner.Fil: D'ippolito, Nicolás Roque. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Investigación en Ciencias de la Computación. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Investigación en Ciencias de la Computación; ArgentinaFil: Rodriguez, Natalia. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; ArgentinaFil: Sardina, Sebastian. RMIT University; Australi

Banach-Mazur Games with Simple Winning Strategies

We discuss several notions of "simple" winning strategies for Banach-Mazur games on graphs, such as positional strategies, move-counting or length-counting strategies, and strategies with a memory based on finite appearance records (FAR). We investigate classes of Banach-Mazur games that are determined via these kinds of winning strategies. Banach-Mazur games admit stronger determinacy results than classical graph games. For instance, all Banach-Mazur games with omega-regular winning conditions are positionally determined. Beyond the omega-regular winning conditions, we focus here on Muller conditions with infinitely many colours. We investigate the infinitary Muller conditions that guarantee positional determinacy for Banach-Mazur games. Further, we determine classes of such conditions that require infinite memory but guarantee determinacy via move-counting strategies, length-counting strategies, and FAR-strategies. We also discuss the relationships between these different notions of determinacy

Relentful Strategic Reasoning in 1 Alternating-Time Temporal Logic

Temporal logics are a well investigated formalism for the specification, verification, and synthesis of reactive systems. Within this family, Alternating-Time Temporal Logic (ATL , for short) has been introduced as a useful generalization of classical linear- and branching-time temporal logics, by allowing temporal operators to be indexed by coalitions of agents. Classically, temporal logics are memoryless: once a path in the computation tree is quantified at a given node, the computation that has led to that node is forgotten. Recently, mCTL has been defined as a memoryful variant of CTL , where path quantification is memoryful. In the context of multi-agent planning, memoryful quantification enables agents to “relent” and change their goals and strategies depending on their history. In this paper, we define mATL , a memoryful extension of ATL , in which a formula is satisfied at a certain node of a path by taking into account both the future and the past. We study the expressive power of mATL , its succinctness, as well as related decision problems. We also investigate the relationship between memoryful quantification and past modalities and show their equivalence. We show that both the memoryful and the past extensions come without any computational price; indeed, we prove that both the satisfiability and the model-checking problems are 2EXPTIME-COMPLETE, as they are for AT

Multi-agent Path Planning in Known Dynamic Environments

We consider the problem of planning paths of multiple agents in a dynamic but predictable environment. Typical scenarios are evacuation, reconfiguration, and containment. We present a novel representation of abstract path-planning problems in which the stationary environment is explicitly coded as a graph (called the arena) while the dynamic environment is treated as just another agent. The complexity of planning using this representation is pspace-complete. The arena complexity (i.e., the complexity of the planning problem in which the graph is the only input, in particular, the number of agents is fixed) is np-hard. Thus, we provide structural restrictions that put the arena complexity of the planning problem into ptime(for any fixed number of agents). The importance of our work is that these structural conditions (and hence the complexity results) do not depend on graph-theoretic properties of the arena (such as clique- or tree-width), but rather on the abilities of the agents

The Planning Spectrum - One, Two, Three, Infinity

none2Linear Temporal Logic (LTL) is widely used for defining conditions on the execution paths of dynamic systems. In the case of dynamic systems that allow for nondeterministic evolutions, one has to specify, along with an LTL formula ', which are the paths that are required to satisfy the formula. Two extreme cases are the universal interpretation A.', which requires that the formula be satisfied for all execution paths, and the existential interpretation E.', which requires that the formula be satisfied for some execution path. When LTL is applied to the definition of goals in planning problems on nondeterministic domains, these two extreme cases are too restrictive. It is often impossible to develop plans that achieve the goal in all the nondeterministic evolutions of a system, and it is too weak to require that the goal is satisfied by some execution. In this paper we explore alternative interpretations of an LTL formula that are between these extreme cases. We define a new language that permits an arbitrary combination of the A and E quantifiers, thus allowing, for instance, to require that each finite execution can be extended to an execution satisfying an LTL formula (AE.'), or that there is some finite execution whose extensions all satisfy an LTL formula (EA.'). We show that only eight of these combinations of path quantifiers are relevant, corresponding to an alternation of the quantifiers of length one (A and E), two (AE and EA), three (AEA and EAE), and infinity ((AE)! and (EA)!). We also present a planning algorithm for the new language that is based on an automata-theoretic approach, and study its complexity.Marco Pistore; Moshe Y. VardiPistore, Marco; Moshe Y., Vard

The Planning Spectrum - One, Two, Three, Infinity

Linear Temporal Logic (LTL) is widely used for defining conditions on the execution paths of dynamic systems. In the case of dynamic systems that allow for nondeterministic evolutions, one has to specify, along with an LTL formula #, which are the paths that are required to satisfy the formula. Two extreme cases are the universal interpretation A.#, which requires to satisfy the formula for all the possible execution paths, and the existential interpretation E .#, which requires to satisfy the formula for some execution paths