TY - GEN
T1 - Planning and Acting While the Clock Ticks
AU - Coles, Andrew
AU - Karpas, Erez
AU - Lavrinenko, Andrey
AU - Ruml, Wheeler
AU - Shimony, Solomon Eyal
AU - Shperberg, Shahaf
N1 - Publisher Copyright:
Copyright © 2024, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
PY - 2024/5/30
Y1 - 2024/5/30
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85195935203&partnerID=8YFLogxK
U2 - 10.1609/icaps.v34i1.31465
DO - 10.1609/icaps.v34i1.31465
M3 - Conference contribution
AN - SCOPUS:85195935203
T3 - Proceedings International Conference on Automated Planning and Scheduling, ICAPS
SP - 95
EP - 103
BT - Proceedings of the 34th International Conference on Automated Planning and Scheduling, ICAPS 2024
A2 - Bernardini, Sara
A2 - Muise, Christian
PB - Association for the Advancement of Artificial Intelligence
T2 - 34th International Conference on Automated Planning and Scheduling, ICAPS 2024
Y2 - 1 June 2024 through 6 June 2024
ER -