77 research outputs found
Using the relaxed plan heuristic to select goals in oversubscription planning problems
Oversubscription planning (OSP) appears in many
real problems where nding a plan achieving all goals is infeasi-
ble. The objective is to nd a feasible plan reaching a goal sub-
set while maximizing some measure of utility. In this paper, we
present a new technique to select goals \a priori" for problems in
which a cost bound prevents all the goals from being achieved.
It uses estimations of distances between goals, which are com-
puted using relaxed plans. Using these distances, a search in
the space of subsets of goals is performed, yielding a new set of
goals to plan for. A revised planning problem can be created and
solved, taking into account only the selected goals. We present
experiments in six di erent domains with good results.This work has been partially supported by MICIIN TIN2008-06701-C03-03 and
CCG10-UC3M/TIC-5597 projects.Publicad
From perception to action and vice versa: a new architecture showing how perception and action can modulate each other simultaneously
Presentado en: 6th European Conference on Mobile Robots (ECMR) Sep 25-27, 2013 Barcelona, SpainArtificial vision systems can not process all the
information that they receive from the world in real time
because it is highly expensive and inefficient in terms of
computational cost. However, inspired by biological perception
systems, it is possible to develop an artificial attention model
able to select only the relevant part of the scene, as human
vision does. From the Automated Planning point of view, a
relevant area can be seen as an area where the objects involved
in the execution of a plan are located. Thus, the planning system
should guide the attention model to track relevant objects. But,
at the same time, the perceived objects may constrain or provide
new information that could suggest the modification of a current
plan. Therefore, a plan that is being executed should be adapted
or recomputed taking into account actual information perceived
from the world. In this work, we introduce an architecture that
creates a symbiosis between the planning and the attention
modules of a robotic system, linking visual features with high
level behaviours. The architecture is based on the interaction of
an oversubscription planner, that produces plans constrained
by the information perceived from the vision system, and an
object-based attention system, able to focus on the relevant
objects of the plan being executed.Spanish MINECO projects TIN2008-06196, TIN2012-38079-C03-03 and TIN2012-38079-C03-02. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec
Planning graph heuristics for selecting objectives in over-subscription planning problems
Partial Satisfaction or Over-subscription Planning problems arise in many real world applications. Applications in which the planning agent does not have enough resources to accomplish all of their given goals, requiring plans that satisfy only a subset of them. Solving such partial satisfaction planning (PSP) problems poses several challenges, from new models for handling plan quality to efficient heuristics for selecting the most beneficial goals. In this paper, we extend planning graph-based reachability heuristics with mutex analysis to overcome complex goal interactions in PSP problems. We start by describing one of the most general PSP problems, the PSP NET BENEFIT problem, where actions have execution costs and goals have utilities. Then, we present AltWlt, 1 our heuristic approach augmented with a multiple goal set selection process and mutex analysis. Our empirical studies show that AltWlt is able to generate the most beneficial solutions, while incurring only a small fraction of the cost of other PSP approaches
From perception to action and vice versa: A new architecture showing how perception and action can modulate each other simultaneously
The proceeding at: 6th European Conference on Mobile Robots.Took place in September 25-27, 2013, in Barcelona, Spain.Artificial vision systems can not process all the information that they receive from the world in real time because it is highly expensive and inefficient in terms of computational cost. However, inspired by biological perception systems, it is possible to develop an artificial attention model able to select only the relevant part of the scene, as human vision does. From the Automated Planning point of view, a relevant area can be seen as an area where the objects involved in the execution of a plan are located. Thus, the planning system should guide the attention model to track relevant objects. But, at the same time, the perceived objects may constrain or provide new information that could suggest the modification of a current plan. Therefore, a plan that is being executed should be adapted or recomputed taking into account actual information perceived from the world. In this work, we introduce an architecture that creates a symbiosis between the planning and the attention modules of a robotic system, linking visual features with high level behaviours. The architecture is based on the interaction of an oversubscription planner, that produces plans constrained by the information perceived from the vision system, and an object-based attention system, able to focus on the relevant objects of the plan being executed.This work has been partially granted by the Spanish Ministerio
de Economía y Competitividad (MINECO) projects no. TIN2008-06196,
TIN2012-38079-C03-03 and TIN2012-38079-C03-02. It has been also
granted by Universidad de Málaga, International Campus of Excellence
Andalucía Tech.Publicad
Planning with Continuous Resources in Stochastic Domains
We consider the problem of optimal planning in stochastic domains with metric resource constraints. Our goal is to generate a policy whose expected sum of rewards is maximized for a given initial state. We consider a general formulation motivated by our application domain--planetary exploration--in which the choice of an action at each step may depend on the current resource levels. We adapt the forward search algorithm AO* to handle our continuous state space efficiently
GENERATING PLANS IN CONCURRENT, PROBABILISTIC, OVER-SUBSCRIBED DOMAINS
Planning in realistic domains typically involves reasoning under uncertainty, operating under time and resource constraints, and finding the optimal subset of goals to work on. Creating optimal plans that consider all of these features is a computationally complex, challenging problem. This dissertation develops an AO* search based planner named CPOAO* (Concurrent, Probabilistic, Over-subscription AO*) which incorporates durative actions, time and resource constraints, concurrent execution, over-subscribed goals, and probabilistic actions. To handle concurrent actions, action combinations rather than individual actions are taken as plan steps. Plan optimization is explored by adding two novel aspects to plans. First, parallel steps that serve the same goal are used to increase the plan’s probability of success. Traditionally, only parallel steps that serve different goals are used to reduce plan execution time. Second, actions that are executing but are no longer useful can be terminated to save resources and time. Conventional planners assume that all actions that were started will be carried out to completion. To reduce the size of the search space, several domain independent heuristic functions and pruning techniques were developed. The key ideas are to exploit dominance relations for candidate action sets and to develop relaxed planning graphs to estimate the expected rewards of states. This thesis contributes (1) an AO* based planner to generate parallel plans, (2) domain independent heuristics to increase planner efficiency, and (3) the ability to execute redundant actions and to terminate useless actions to increase plan efficiency
Goal reasoning for autonomous agents using automated planning
Mención Internacional en el título de doctorAutomated planning deals with the task of finding a sequence of actions, namely
a plan, which achieves a goal from a given initial state. Most planning research
consider goals are provided by a external user, and agents just have to find a
plan to achieve them. However, there exist many real world domains where
agents should not only reason about their actions but also about their goals,
generating new ones or changing them according to the perceived environment.
In this thesis we aim at broadening the goal reasoning capabilities of planningbased
agents, both when acting in isolation and when operating in the same
environment as other agents.
In single-agent settings, we firstly explore a special type of planning tasks
where we aim at discovering states that fulfill certain cost-based requirements
with respect to a given set of goals. By computing these states, agents are able
to solve interesting tasks such as find escape plans that move agents in to safe
places, hide their true goal to a potential observer, or anticipate dynamically arriving
goals. We also show how learning the environment’s dynamics may help
agents to solve some of these tasks. Experimental results show that these states
can be quickly found in practice, making agents able to solve new planning
tasks and helping them in solving some existing ones.
In multi-agent settings, we study the automated generation of goals based on
other agents’ behavior. We focus on competitive scenarios, where we are interested
in computing counterplans that prevent opponents from achieving their
goals. We frame these tasks as counterplanning, providing theoretical properties
of the counterplans that solve them. We also show how agents can benefit
from computing some of the states we propose in the single-agent setting to
anticipate their opponent’s movements, thus increasing the odds of blocking
them. Experimental results show how counterplans can be found in different
environments ranging from competitive planning domains to real-time strategy
games.Programa de Doctorado en Ciencia y Tecnología Informática por la Universidad Carlos III de MadridPresidenta: Eva Onaindía de la Rivaherrera.- Secretario: Ángel García Olaya.- Vocal: Mark Robert
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