Abstract
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 language | English |
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| Number of pages | 8 |
| Publication status | Published - 19 Oct 2020 |
| Event | Integrated Execution (IntEx) / Goal Reasoning (GR) - Virtual Duration: 19 Oct 2020 → 30 Oct 2020 https://icaps20subpages.icaps-conference.org/workshops/intex/ |
Conference
| Conference | Integrated Execution (IntEx) / Goal Reasoning (GR) |
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| Abbreviated title | ICAPS 2020 |
| Period | 19/10/20 → 30/10/20 |
| Internet address |
Keywords
- efficient anytime computation
- execution
- decoupled robustness envelopes
- temporal plans