Anticipatory On-Line Planning
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Published:2012-05-14
Issue:
Volume:22
Page:333-337
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ISSN:2334-0843
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Container-title:Proceedings of the International Conference on Automated Planning and Scheduling
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language:
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Short-container-title:ICAPS
Author:
Burns Ethan,Benton J.,Ruml Wheeler,Yoon Sungwook,Do Minh
Abstract
We consider the problem of on-line continual planning, in whichadditional goals may arrive while plans for previous goals are stillexecuting and plan quality depends on how quickly goals are achieved.This is a challenging problem even in domains with deterministicactions. One common and straightforward approach is reactive planning,in which plans are synthesized when a new goal arrives. In this paper,we adapt the technique of hindsight optimization from on-line schedulingand probabilistic planning to create an anticipatory on-line planningalgorithm. Using an estimate of the goal arrival distribution, wesample possible futures and use a deterministic planner to estimate thevalue of taking possible actions at each time step. Results in twobenchmark domains based on unmanned aerial vehicle planning andmanufacturing suggest that an anticipatory approach yields a superiorplanner that is sensitive not only to which action should be executed,but when.
Publisher
Association for the Advancement of Artificial Intelligence (AAAI)
Cited by
1 articles.
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