Planning and Acting While the Clock Ticks

Andrew Coles, Erez Karpas, Andrey Lavrinenko, Wheeler Ruml, Solomon Eyal Shimony, Shahaf Shperberg

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Standard temporal planning assumes that planning takes place offline and then execution starts at time 0. Recently, situated temporal planning was introduced, where planning starts at time 0 and execution occurs after planning terminates. Situated temporal planning reflects a more realistic scenario where time passes during planning. However, in situated temporal planning a complete plan must be generated before any action is executed. In some problems with time pressure, timing is too tight to complete planning before the first action must be executed. For example, an autonomous car that has a truck backing towards it should probably move out of the way now and plan how to get to its destination later. In this paper, we propose a new problem setting: concurrent planning and execution, in which actions can be dispatched (executed) before planning terminates. Unlike previous work on planning and execution, we must handle wall clock deadlines that affect action applicability and goal achievement (as in situated planning) while also supporting dispatching actions before a complete plan has been found. We extend previous work on metareasoning for situated temporal planning to develop an algorithm for this new setting. Our empirical evaluation shows that when there is strong time pressure, our approach outperforms situated temporal planning.

Original languageEnglish
Title of host publicationProceedings of the 34th International Conference on Automated Planning and Scheduling, ICAPS 2024
EditorsSara Bernardini, Christian Muise
PublisherAssociation for the Advancement of Artificial Intelligence
Pages95-103
Number of pages9
ISBN (Electronic)9781577358893
DOIs
StatePublished - 30 May 2024
Event34th International Conference on Automated Planning and Scheduling, ICAPS 2024 - Banaff, Canada
Duration: 1 Jun 20246 Jun 2024

Publication series

NameProceedings International Conference on Automated Planning and Scheduling, ICAPS
Volume34
ISSN (Print)2334-0835
ISSN (Electronic)2334-0843

Conference

Conference34th International Conference on Automated Planning and Scheduling, ICAPS 2024
Country/TerritoryCanada
CityBanaff
Period1/06/246/06/24

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems and Management

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