Options in Readylog Reloaded - Generating Decision-Theoretic Plan Libraries in Golog

Readylog is a logic-based agent programming language and combines many important features from other Golog dialects. One of the features of Readylog is to make use of decision-theoretic planning for specifying the behavior of an agent or robot. In this paper we show a method to reduce the planning time for decision-theoretic planning in the Readylog framework. Instead of planning policies on the fly over and over again, we calculate an abstract policy once and store it in a plan library. This policy can later be re-instantiated. With this plan library the on-line planning time can be significantly reduced. We compare computing policies on the fly with those stored in our plan library with examples from the robotic soccer domain. In the 2D soccer simulation league we show the significant speed-up when using our plan library approach. Moreover, the use of the plan library together with a suitable state space abstraction for the soccer domain makes it possible to apply macro-actions in an otherwise continuous domain.