Flexible Execution of Plans with Choice
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Williams_FlexibleExecution.pdf
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Author(s)
Williams, Brian Charles
Conrad, Patrick Raymond
Shah, Julie A.
Date Issued
September 2009
Journal
19th International Conference on Automated Planning and Scheduling
Publisher
Association for the Advancement of Artificial Intelligence
Citation
Conrad, Patrick R., Julie A. Shah, and Brian C. Williams. "Flexible Execution of Plans with Choice." Proceedings of the Nineteenth International Conference on Automated Planning and Scheduling, Thessaloniki, Greece September 19, 2009–September 23, 2009.
Version
Author's final manuscript
Abstract
Dynamic plan execution strategies allow an autonomous
agent to respond to uncertainties while improving
robustness and reducing the need for an overly
conservative plan. Executives have improved this robustness
by expanding the types of choices made dynamically,
such as selecting alternate methods. However,
in methods to date, these additional choices introduce
substantial run-time latency. This paper presents a
novel system called Drake that makes steps towards executing
an expanded set of choices dynamically without
significant latency.
Drake frames a plan as a Disjunctive Temporal Problem
and executes it with a fast dynamic scheduling algorithm.
Prior work demonstrated an efficient technique
for dynamic execution of one special type of DTPs by
using an off-line compilation step to find the possible
consistent choices and compactly record the differences
between them. Drake extends this work to handle a
more general set of choices by recording the minimal
differences between the solutions which are required at
run-time. On randomly generated structured plans with
choice, we show a reduction in the size of the solution
set of over two orders of magnitude, compared to prior
art.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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