Planning Time to Think: Metareasoning for On-Line Planning with Durative Actions

When minimizing makespan during off-line planning, the fastest action sequence to reach a particular state is, by definition, preferred. When trying to reach a goal quickly in on-line planning, previous work has inherited that assumption: the faster of two paths that both reach the same state is usually considered to dominate the slower one. In this short paper, we point out that, when planning happens concurrently with execution, selecting a slower action can allow additional time for planning, leading to better plans. We present Slo’RTS, a metareasoning planning algorithm that estimates whether the expected improvement in future decision-making from this increased planning time is enough to make up for the increased duration of the selected action. Using simple benchmarks, we show that Slo’RTS can yield shorter time-to-goal than a conventional planner. This generalizes previous work on metareasoning in on-line planning and highlights the inherent uncertainty present in an on-line setting.