Efficient anytime computation and execution of decoupled robustness envelopes for temporal plans

Michael Cashmore, Alessandro Cimatti, Daniele Magazzeni, Andrea Micheli, Parisa Zehtabi

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One of the major limitations for the employment of model based planning and scheduling in practical applications is the need of costly re-planning when an incongruence between the observed reality and the formal model is encountered during execution. Robustness Envelopes characterize the set of possible contingencies that a plan is able to address without replanning, but their exact computation is extremely expensive; furthermore, general robustness envelopes are not amenable for efficient execution. In this paper, we present a novel, anytime algorithm to approximate Robustness Envelopes, making them scalable and executable. This is proven by an experimental analysis showing the efficiency of the algorithm, and by a concrete case study where the execution of robustness envelopes significantly reduces the number of re-plannings.
Original languageEnglish
Number of pages8
Publication statusPublished - 19 Oct 2020
EventIntegrated Execution (IntEx) / Goal Reasoning (GR) - Virtual
Duration: 19 Oct 202030 Oct 2020


ConferenceIntegrated Execution (IntEx) / Goal Reasoning (GR)
Abbreviated titleICAPS 2020
Internet address


  • efficient anytime computation
  • execution
  • decoupled robustness envelopes
  • temporal plans


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