Planifier lorsque le but change. Une approche inspirée de la recherche de cible mouvante

In this paper, we propose a novel planner, called Moving Goal Planner (MGP) in order to adapt plans when the goal changes over time. This planner draws inspiration from Moving Target Search (MTS) algorithms. In order to limit the number of search iterations and to improve its efficiency, MGP delays as much as possible starting new searches when the goal changes. To this purpose, MGP uses two strategies: Open Check (OC) that checks if the new goal is still in the current search tree and Plan Follow (PF) that estimates whether executing the actions of the current plan brings MGP closer to the new goal. Moreover, MGP uses a parsimonious strategy to adapt incrementally the search tree at each new search that reduces the number of calls to the heuristic function and speeds up the search. Finally, we show evaluation results that demonstrate the effectiveness of our approach. MOTS-CLÉS : Planification de tâches, recherche de cible mouvante