Towards Efficient Anytime Computation and Execution of Decoupled Robustness Envelopes for Temporal Plans

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

Research output: Working paper

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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 re-planning, 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
Place of PublicationIthica, N.Y.
Number of pages8
Publication statusPublished - 17 Nov 2019

Keywords

  • cs.AI
  • robustness envelopes
  • planning and scheduling
  • practical applications

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