Online plan modification in uncertain resource-constrained environments

نویسندگان

چکیده

This paper presents an approach to planning under uncertainty in resource-constrained environments. We describe our novel method for online plan modification and execution monitoring, which augments existing with pre-computed fragments response observed resource availability. Our merging algorithm uses causal structure interleave actions, creating solutions using observations of the true state without introducing significant computational cost. system monitors availability, reasoning about probability successfully completing goals. show that when a decreases, by removing low-priority goals reduces risk failure, increasing mission success rate. Conversely, availability allows, including additional increases reward adversely affecting evaluate example domain long-range autonomous underwater vehicle (AUV) missions, spends months at sea little or no opportunity intervention. compare performance state-of-the-art oversubscription planner. Planning within such domains is challenging because usage means it computationally infeasible calculate optimal strategy advance. also applicability IPC domains, presenting discussion characteristics favour use approach.

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ژورنال

عنوان ژورنال: Robotics and Autonomous Systems

سال: 2021

ISSN: ['0921-8890', '1872-793X']

DOI: https://doi.org/10.1016/j.robot.2021.103726