Robustness envelopes for temporal plans

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

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

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To achieve practical execution, planners must produce temporal plans with some degree of run-time adaptability. Such plans can be expressed as Simple Temporal Networks (STN), that constrain the timing of action activations, and implicitly represent the space of choices for the plan executor. A first problem is to verify that all the executor choices allowed by the STN plan will be successful, i.e. the plan is valid. An even more important problem is to assess the effect of discrepancies between the model used for planning and the execution environment. We propose an approach to compute the 'robustness envelope' (i.e., alternative action durations or resource consumption rates) of a given STN plan, for which the plan remains valid. Plans can have boolean and numeric variables as well as discrete and continuous change. We leverage Satisfiability Modulo Theories (SMT) to make the approach formal and practical.
Original languageEnglish
Title of host publicationProceedings of the Thirty-Third AAAI Conference on Artificial Intelligence
Subtitle of host publicationAAAI Technical Track: Planning, Routing, and Scheduling
Place of PublicationMenlo Park, US-CA.
Number of pages8
Publication statusPublished - 1 Feb 2019
EventThirty-Third AAAI Conference on Artificial Intelligence (AAAI-19) - Honolulu, United States
Duration: 27 Jan 20191 Feb 2019


ConferenceThirty-Third AAAI Conference on Artificial Intelligence (AAAI-19)
Abbreviated titleAAAI-19
CountryUnited States


  • simple temporal networks (STN)
  • temporal plans

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    Cashmore, M., Cimatti, A., Magazzeni, D., Micheli, A., & Zehtabi, P. (2019). Robustness envelopes for temporal plans. In Proceedings of the Thirty-Third AAAI Conference on Artificial Intelligence : AAAI Technical Track: Planning, Routing, and Scheduling (Vol. 33). [6285].