Opportunistic planning for increased plan utility

Michael Cashmore, Maria Fox, Derek Long, Daniele Magazzeni, Bram Ridder

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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This paper explores the execution of planned missions in situations in which opportunities to achieve additional utility can arise during execution. The missions are represented as temporal planning problems, with hard goals and time constraints. Opportunities are soft goals with high utility. The probability distributions for the occurrences of these opportunities are not known, but it is known that they are unlikely so it is not worth trying to anticipate their occurrence prior to plan execution. However, as they are high utility, it is worth trying to address them dynamically when they are encountered, as long as this can be done without sacrificing the achievement of the hard goals of the problem. We formally characterise the opportunistic planning problem, introduce a novel approach to opportunistic planning and compare it to an on-board replanning approach in an example domain involving autonomous underwater vehicles.
Original languageEnglish
Title of host publicationProceedings of the 4th ICAPS Workshop on Planning and Robotics (PlanRob)
EditorsAlberto Finzi, Erez Karpas
Place of Publication[London]
Number of pages11
Publication statusPublished - 13 Jun 2016


  • planned missions
  • opportunistic planning
  • artificial intelligence
  • AI
  • automated planning
  • Autonomous Underwater Vehicle (AUV)


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