Generating Optimal Plans in Highly-Dynamic Domains
Christian Fritz, Sheila McIlraith
Generating optimal plans in highly dynamic environments is challenging. Plans are predicated on an assumed initial state, but this state can change unexpectedly during plan generation, potentially invalidating the planning effort. In this paper we make three contributions: (1) We propose a novel algorithm for generating optimal plans in settings where frequent, unexpected events interfere with planning. It is able to quickly distinguish relevant from irrelevant state changes, and to update the existing planning search tree if necessary. (2) We argue for a new criterion for evaluating plan adaptation techniques: the relative running time compared to the "size" of changes. This is significant since during recovery more changes may occur that need to be recovered from subsequently, and in order for this process of repeated recovery to terminate, recovery time has to converge. (3) We show empirically that our approach can converge and find optimal plans in environments that would ordinarily defy planning due to their high dynamics.
PDF Link: /papers/09/p177-fritz.pdf
AUTHOR = "Christian Fritz
and Sheila McIlraith",
TITLE = "Generating Optimal Plans in Highly-Dynamic Domains",
BOOKTITLE = "Proceedings of the Twenty-Fifth Conference Annual Conference on Uncertainty in Artificial Intelligence (UAI-09)",
PUBLISHER = "AUAI Press",
ADDRESS = "Corvallis, Oregon",
YEAR = "2009",
PAGES = "177--184"