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PDDL2.1 -- The Art of the Possible? Commentary on Fox and Long

D. McDermott
2003 The Journal of Artificial Intelligence Research  
It adds two important features: durative actions,which take time (and may have continuous effects); and objective functions for measuring the quality of plans.  ...  Future PDDL innovators should focus on producing a clean semantics for additions to the language, and let planner implementers worry about coupling their algorithms to problems expressed in the latest  ...  My impression is that most planners that can handle duratives can handle only species 1, which is why the committee decided to include duratives.  ... 
doi:10.1613/jair.1996 fatcat:m7kvp3orajh5hcwskjkertwxgi

Adaptable and Verifiable BDI Reasoning

Peter Stringer, Rafael C. Cardoso, Xiaowei Huang, Louise A. Dennis
2020 Electronic Proceedings in Theoretical Computer Science  
Specifically, we describe an agent-maintained self-model with accompanying theories of durative actions and learning new action descriptions in BDI systems.  ...  In this position paper, we describe a system architecture for BDI autonomous agents capable of adapting to changes in a dynamic environment and outline the required research.  ...  We will then adapt the GWENDOLEN goal life-cycle as suggested in [10] to handle durative actions in a principled fashion.  ... 
doi:10.4204/eptcs.319.9 fatcat:lzwfpoysabfgfnqmwxtplidtp4

PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains

M. Fox, D. Long
2003 The Journal of Artificial Intelligence Research  
The third com petition (held in 2002) set the planning community the challenge of handling tim e and numeric resources.  ...  This necessitated the development of a modelling langua ge capable of expressing temporal and numeric properties of planning domains.  ...  Acknowledgements We would like to thank the members of the committee for the third International Planning Competition.  ... 
doi:10.1613/jair.1129 fatcat:rtuz7afuy5hexoys7t4te7vzs4

Plan Execution in Dynamic Environments [chapter]

Gordon Fraser, Gerald Steinbauer, Franz Wotawa
2005 Lecture Notes in Computer Science  
Once a plan invariant fails the plan execution is stopped and other plans that are more appropriate in the current context are considered for execution instead.  ...  Besides a formal semantics of plan execution and a representation of plans as programs, we introduce the concept of plan invariants.  ...  Durative actions -plan invariants can be used to detect invalid or unsuitable plans during execution of durative actions. Durative actions, as opposed to discrete actions, can continue indefinitely.  ... 
doi:10.1007/11504894_30 fatcat:6sovwjujyndqljym6nbkuzbxye

Robustness Envelopes for Temporal Plans

Michael Cashmore, Alessandro Cimatti, Daniele Magazzeni, Andrea Micheli, Parisa Zehtabi
2019 PROCEEDINGS OF THE THIRTIETH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE AND THE TWENTY-EIGHTH INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE  
., 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.  ...  Conclusion and Future Work This paper addresses two important problems concerning STN plans in planning domains with durative actions and continuous change.  ... 
doi:10.1609/aaai.v33i01.33017538 fatcat:sh25spusyfbuxdmf3q73lje6wy

Temporal Planning in Domains with Linear Processes

Amanda Jane Coles, Andrew Coles, Maria Fox, Derek Long
2009 International Joint Conference on Artificial Intelligence  
We consider the problem of planning in domains with continuous linear numeric change.  ...  We show how a forward-chaining temporal planner can be extended to reason with actions with continuous linear effects. We extend a temporal planner to handle numeric values using linear programming.  ...  It is the temporal planning strategy upon which we base the continuous planning framework.  ... 
dblp:conf/ijcai/ColesCFL09 fatcat:nzfg3mni2vgfhdlz7uz2rrfw34

An Action Interface Manager for ROSPlan

Stefan-Octavian Bezrucav, Gerard Canal, Michael Cashmore, Burkhard Corves
2021 Zenodo  
Thus, a further mapping module is required to connect the abstract planned actions to the robot-specific algorithms that must be called in order to execute these actions.  ...  This module has been integrated as an Action Interface of the automated task planning framework ROSPlan, and includes a Graphical User Interface though which the configuration file can be easily generated  ...  Related Work In this section we discuss how different frameworks handle the mapping of planned actions to their implementations in ROS.  ... 
doi:10.5281/zenodo.5348002 fatcat:3k47vhutxzbdxoein2bruzggje

An Action Interface Manager for ROSPlan

Stefan-Octavian Bezrucav, Gerard Canal, Michael Cashmore, Burkhard Corves
2021 Zenodo  
Thus, a further mapping module is required to connect the abstract planned actions to the robot-specific algorithms that must be called in order to execute these actions.  ...  This module has been integrated as an Action Interface of the automated task planning framework ROSPlan, and includes a Graphical User Interface though which the configuration file can be easily generated  ...  Related Work In this section we discuss how different frameworks handle the mapping of planned actions to their implementations in ROS.  ... 
doi:10.5281/zenodo.5272949 fatcat:ze3vn56ju5bq7fg4dkchjxdjfa

A SAT-based approach to cost-sensitive temporally expressive planning

Qiang Lu, Ruoyun Huang, Yixin Chen, You Xu, Weixiong Zhang, Guoliang Chen
2013 ACM Transactions on Intelligent Systems and Technology  
In this paper, we consider the challenging problem of cost-sensitive temporally expressive (CSTE) planning, which requires concurrency of durative actions and optimization of action costs.  ...  We first propose a scheme to translate a CSTE planning problem to a minimum cost (MinCost) satisfiability (SAT) problem and to integrate with a relaxed parallel planning semantics for handling true temporal  ...  A : 6 : Qiang Lu et al.ALGORITHM 1: A SAT-based CSTE Planning Framework (SCP)Input: A CSTE planning problem: Π Output: A solution plan 1 transform durative actions into simple ones; encode the problem  ... 
doi:10.1145/2542182.2542200 fatcat:gbnafwk64vbmzelg2dlxemor3y

Strong Temporal Planning with Uncontrollable Durations: A State-Space Approach

Alessandro Cimatti, Andrea Micheli, Marco Roveri
2015 PROCEEDINGS OF THE THIRTIETH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE AND THE TWENTY-EIGHTH INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE  
In many practical domains, planning systems are required to reason about durative actions. A common assumption in the literature is that the executor is allowed to decide the duration of each action.  ...  In this paper, we tackle the problem of temporal planning with uncontrollable action durations.  ...  Acknowledgments We would like to thank Michele Cristelli for the discussions on a preliminary version of this work and for the implementation of the TO approach in an old version of COLIN.  ... 
doi:10.1609/aaai.v29i1.9653 fatcat:iomv7vxsgfczdh6g3mr2fzlcoy

Modelling Mixed Discrete-Continuous Domains for Planning

M. Fox, D. Long
2006 The Journal of Artificial Intelligence Research  
In this paper we present pddl+, a planning domain description language for modelling mixed discrete-continuous planning domains.  ...  For example, for a restricted class of HAs the Reachability problem (which is equivalent to Plan Existence) is decidable. pddl+ provides an alternative to the continuous durative action model of pddl2.1  ...  A limited capability to model continuous change within the durative action framework is also provided. pddl+ provides a more flexible model of continuous change through the use of autonomous processes  ... 
doi:10.1613/jair.2044 fatcat:dohrf3ualrhbpedhpi6a7k4kwi

Towards The Integration of Model Predictive Control into an AI Planning Framework

Falilat Jimoh, Thomas Leo McCluskey
2016 Workshop of the UK Planning and Scheduling Special Interest Group  
This paper describes a framework for a hybrid algorithm that combines both AI Planning and Model Predictive Control approaches to reason with processes and events within a domain.  ...  The developed technique is tested on an urban traffic control application and the results demonstrate the potential in utilising MPC as a heurisic to guide planning search.  ...  It was the first planner to implement the PDDL+ Semantics and in addition had the capability of handling variable durative actions.  ... 
dblp:conf/plansig/JimohM16 fatcat:sufqllmpo5bwvibhlfun4nmzri

Robots That Create Alternative Plans against Failures

C. Ugur Usug, Dogan Altan, Sanem Sariel-Talay
2012 IFAC Proceedings Volumes  
The main focus of our research is to design a dynamic planning framework which can generate alternative plans by applying generic updates in the domain representation when the execution of a plan fails  ...  Incomplete domain representations may lead a planner to fail constructing a valid plan when unforeseen events are encountered.  ...  Our solution to the presented problem involves a dynamic temporal planning framework (Fig. 1) to handle temporary action failures.  ... 
doi:10.3182/20120905-3-hr-2030.00184 fatcat:2wxeakwjqbd7ln5vxldtkzc4nu

Managing concurrency in temporal planning using planner-scheduler interaction

Andrew Coles, Maria Fox, Keith Halsey, Derek Long, Amanda Smith
2009 Artificial Intelligence  
In pddl2.1, the widely adopted planning domain description language standard, metric temporal planning problems are described using actions with durations.  ...  A large number of planners have been developed to handle this language, but the great majority of them are fundamentally limited in the class of temporal problems they can solve.  ...  Future work Work is underway investigating combining the approach to temporal planning adopted in Crikey with the problem decomposition framework used in TSGP [42] .  ... 
doi:10.1016/j.artint.2008.08.003 fatcat:itzcr6rylnbyfbnyatsmgqokqe

Processes and continuous change in a SAT-based planner

Ji-Ae Shin, Ernest Davis
2005 Artificial Intelligence  
The TM-LPSAT planner can construct plans in domains containing atomic actions and durative actions; events and processes; discrete, real-valued, and interval-valued fluents; reusable resources, both numeric  ...  In the third stage, a correct plan is extracted from this solution.  ...  The research reported in this paper was supported by NSF grant IIS-0097537.  ... 
doi:10.1016/j.artint.2005.04.001 fatcat:mwadca32rrdbhg3sl2rapeljb4
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