Abstract
For many mobile service robot applications, planning problems are based on deciding how and when to navigate to certain locations and execute certain tasks. Typically, many of these tasks are independent from one another, and the main objective is to obtain plans that efficiently take into account where these tasks can be executed and when execution is allowed. In this paper, we present
an approach, based on merging of partial order plans with durative actions, that can quickly and effectively generate a plan for a set of independent goals. This plan exploits some of the synergies of the plans for each single task, such as common locations where certain actions should be executed. We evaluate our approach in benchmarking domains, comparing it with state-of-the-art planners and showing how it provides a good trade-off between the approach of sequencing the plans for each task (which is fast but produces poor results), and
the approach of planning for a conjunction of all the goals (which is slow but produces good results).
an approach, based on merging of partial order plans with durative actions, that can quickly and effectively generate a plan for a set of independent goals. This plan exploits some of the synergies of the plans for each single task, such as common locations where certain actions should be executed. We evaluate our approach in benchmarking domains, comparing it with state-of-the-art planners and showing how it provides a good trade-off between the approach of sequencing the plans for each task (which is fast but produces poor results), and
the approach of planning for a conjunction of all the goals (which is slow but produces good results).
Original language | English |
---|---|
Title of host publication | Proceedings of 22nd European Conference on Artificial Intelligence (ECAI 2016) |
Publisher | IOS Press |
Pages | 1537-1545 |
Number of pages | 9 |
DOIs | |
Publication status | Published - Sept 2016 |
Event | 22nd European Conference on Artificial Intelligence (ECAI 2016) - The Hague, Netherlands Duration: 29 Aug 2016 → 2 Sept 2016 |
Publication series
Name | Frontiers in Artificial Intelligence and Applications |
---|---|
Publisher | IOP |
Volume | 285 |
Conference
Conference | 22nd European Conference on Artificial Intelligence (ECAI 2016) |
---|---|
Country/Territory | Netherlands |
City | The Hague |
Period | 29/08/16 → 2/09/16 |