TY - GEN
T1 - A multi-path compilation approach to contingent planning
AU - Brafman, Ronen I.
AU - Shani, Guy
PY - 2012/12/1
Y1 - 2012/12/1
N2 - We describe a new sound and complete method for compiling contingent planning problems with sensing actions into classical planning. Our method encodes conditional plans within a linear, classical plan. This allows our planner, MPSR, to reason about multiple future outcomes of sensing actions, and makes it less susceptible to dead-ends. MPRS, however, generates very large classical planning problems. To overcome this, we use an incomplete variant of the method, based on state sampling, within an online replanner. On most current domains, MPSR finds plans faster, although its plans are often longer. But on a new challenging variant of Wumpus with dead-ends, it finds smaller plans, faster, and scales better.
AB - We describe a new sound and complete method for compiling contingent planning problems with sensing actions into classical planning. Our method encodes conditional plans within a linear, classical plan. This allows our planner, MPSR, to reason about multiple future outcomes of sensing actions, and makes it less susceptible to dead-ends. MPRS, however, generates very large classical planning problems. To overcome this, we use an incomplete variant of the method, based on state sampling, within an online replanner. On most current domains, MPSR finds plans faster, although its plans are often longer. But on a new challenging variant of Wumpus with dead-ends, it finds smaller plans, faster, and scales better.
UR - http://www.scopus.com/inward/record.url?scp=84866883923&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84866883923
SN - 9781577355779
T3 - AAAI Workshop - Technical Report
SP - 9
EP - 15
BT - Problem Solving Using Classical Planners - Papers from the 2012 AAAI Workshop, Technical Report
T2 - 2012 AAAI Workshop
Y2 - 22 July 2012 through 22 July 2012
ER -