Planning on demand in BDI systems

The primary goals and contributions of our work are: 1)incorporating planning at specific points in a BDI application,on an as needed basis, under control of the programmer;2) planning using only limited subsets of the application,making the planning more efficient, and; 3) incorporating the plan generated back into the BDI system, for regular BDI execution, identifying plan steps that could be pursued in parallel

HTN-Like Solutions for Classical Planning Problems: An Application to BDI Agent Systems

In this paper we explore the question of what characterises a desirable plan of action and how such a plan could be computed, in the context of systems that already possess a certain amount of hierarchical domain knowledge. In contrast to past work in this setting, which focuses on generating low-level plans, losing much of the domain knowledge inherent in such systems, we argue that plans ought to be HTN-like or abstract, i.e., re-use and respect the user-supplied know-how in the underlying domain. In doing so, we recognise an intrinsic tension between striving for abstract plans but ensuring that unnecessary actions, not linked to the specific goal to be achieved, are avoided. We explore this tension by characterising the set of “ideal” abstract plans that are non-redundant but maximally abstract, and then develop a more limited yet feasible account in which a given (arbitrary) abstract plan is “specialised” into one such non-redundant plan that is as abstract as possible. We present an algorithm that can compute such specialisations, and analyse the theoretical properties of our proposal

Hierarchical planning in BDI agent programming languages: A formal approach

This paper provides a general mechanism and a solid theoretical basis for performing planning within Belief-Desire-Intention (BDI) agents. BDI agent systems have emerged as one of the most widely used approaches to implementing intelligent behaviour in complex dynamic domains, in addition to which they have a strong theoretical background. However, these systems either do not include any built-in capacity for "lookahead" type of planning or they do it only at the implementation level without any precise defined semantics. In some situations, the ability to plan ahead is clearly desirable or even mandatory for ensuring success. Also, a precise definition of how planning can be integrated into a BDI system is highly desirable. By building on the underlying similarities between BDI systems and Hierarchical Task Network (HTN) planners, we present a formal semantics for a BDI agent programming language which cleanly incorporates HTN-style planning as a built-in feature. We argue that the resulting integrated agent programming language combines the advantages of both BDI agent systems and hierarchical offline planners

First principles planning in BDI systems

BDI (Belief, Desire, Intention) agent systems are very powerful, but they lack the ability to incorporate planning. There has been some previous work to incorporate planning within such systems. However, this has either focussed on producing low-level plan sequences, losing much of the domain knowledge inherent in BDI systems, or has been limited to HTN (Hierarchical Task Network) planning, which cannot find plans other than those specified by the programmer. In this work, we incorporate classical planning into a BDI agent, but in a way that respects and makes use of the procedural domain knowledge available, by producing abstract plans that can be executed using such knowledge. In doing so, we recognize an intrinsic tension between striving for abstract plans and, at the same time, ensuring that unnecessary actions, unrelated to the specific goal to be achieved, are avoided. We explore this tension, by first characterizing the set of 'ideal' abstract plans that are non-redundant while maximally abstract, and then developing a more limited but feasible account in which an abstract plan is 'specialized' into a new abstract plan that is non-redundant and preserves abstraction as much as possible. We describe an algorithm to compute such a plan specialization, as well as algorithms for the production of a valid high level plan, by deriving abstract planning operators from the BDI program

A comparison of BDI based real-time reasoning and HTN based planning

The Belief--Desire--Intention (BDI) model of agency is an architecture based on Bratmanrsquos theory of practical reasoning. Hierarchical Task Network (HTN) decomposition on the other hand is a planning technique which has its roots in classical planning systems such as STRIPS. Despite being used for different purposes, HTN and BDI systems appear to have a lot of similarities in the problem solving approaches they adopt. This paper presents these similarities. A systematic method for mapping between the two systems is developed, and experimental results for different kinds of environments are presented

Human Movement Is Both Diffusive and Directed

Understanding the influence of the built environment on human movement requires quantifying spatial structure in a general sense. Because of the difficulty of this task, studies of movement dynamics often ignore spatial heterogeneity and treat movement through journey lengths or distances alone. This study analyses public bicycle data from central London to reveal that, although journey distances, directions, and frequencies of occurrence are spatially variable, their relative spatial patterns remain largely constant, suggesting the influence of a fixed spatial template. A method is presented to describe this underlying space in terms of the relative orientation of movements toward, away from, and around locations of geographical or cultural significance. This produces two fields: one of convergence and one of divergence, which are able to accurately reconstruct the observed spatial variations in movement. These two fields also reveal categorical distinctions between shorter journeys merely serving diffusion away from significant locations, and longer journeys intentionally serving transport between spatially distinct centres of collective importance. Collective patterns of human movement are thus revealed to arise from a combination of both diffusive and directed movement, with aggregate statistics such as mean travel distances primarily determined by relative numbers of these two kinds of journeys

The structural and geochemical evolution of the continental crust: Support for the oceanic plateau model of continental growth

The problem of the origin of the continental crust can be resolved into two fundamental questions: (1) the location and mechanisms of initial mantle extraction of the primitive crust and (2) the processes by which this primitive crust is converted into the continental crust that presently exists. We know that Archean continental crust is compositionally distinct from younger continental crust. Archean magmatism was dominantly bimodal, mafic thoeleiitic plus dacitic, heavy rare earth element depleted, in contrast to the dominantly unimodal, roughly andesitic calc-alkaline magmatism on younger crust [Taylor and McLennan, 1985; Condie, 1989]. The problem is whether these compositional differences are primarily due to different mechanisms of crustal extraction from the mantle or to different mechanisms of differentiation and alteration of newly formed continental crust

Predicting youth participation in urban agriculture in Malaysia: insights from the theory of planned behavior and the functional approach to volunteer motivation

This study examines factors associated with the decision of Malaysian youth to participate in a voluntary urban agriculture program. Urban agriculture has generated significant interest in developing countries to address concerns over food security, growing urbanization and employment. While an abundance of data shows attracting the participation of young people in traditional agriculture has become a challenge for many countries, few empirical studies have been conducted on youth motivation to participate in urban agriculture programs, particularly in non-Western settings. Drawing on the theories of planned behavior and the functional approach to volunteer motivation, we surveyed 890 students from a public university in Malaysia about their intention to join a new urban agriculture program. Hierarchical regression findings indicated that the strongest predictor of participation was students’ attitude toward urban agriculture, followed by subjective norms, career motives and perceived barriers to participation. The findings from this study may provide useful information to the university program planners in Malaysia in identifying mechanisms for future students’ involvement in the program

Profiling the Impact of Medium Formulation on Morphology and Functionality of Primary Hepatocytes in vitro

The characterization of fully-defined in vitro hepatic culture systems requires testing of functional and morphological variables to obtain the optimal trophic support, particularly for cell therapeutics including bioartificial liver systems (BALs). Using serum-free fully-defined culture medium formulations, we measured synthetic, detoxification and metabolic variables of primary porcine hepatocytes (PPHs) - integrated these datasets using a defined scoring system and correlated this hepatocyte biological activity index (HBAI) with morphological parameters. Hepatic-specific functions exceeded those of both primary human hepatocytes (PHHs) and HepaRG cells, whilst retaining biotransformation potential and in vivo-like ultrastructural morphology, suggesting PPHs as a potential surrogate for PHHs in various biotech applications. The HBAI permits assessment of global functional capacity allowing the rational choice of optimal trophic support for a defined operational task (including BALs, hepatocellular transplantation, and cytochrome P450 (CYP450) drug metabolism studies), mitigates risk associated with sub-optimal culture systems, and reduces time and cost of research and therapeutic applications