Utility-Based HTN Planning
نویسندگان
چکیده
We propose the use of HTN planning for risk-sensitive planning domains. We suggest utility functions that reflect the risk attitude of compound tasks, and adapt a best-first search algorithm to take such utilities into account.
منابع مشابه
Integration of Online Learning into HTN Planning for Robotic Tasks
This paper extends hierarchical task network (HTN) planning with lightweight learning, considering that in robotics, actions have a non-zero probability of failing. Our work applies to A*-based HTN planners with lifting. We prove that the planner finds the plan of maximal expected utility, while retaining its lifting capability and efficient heuristic-based search. We show how to learn the prob...
متن کاملCase-Based, Decision-Theoretic, HTN Planning
This paper describes ProCHiP, a planner that combines CBR with the techniques of decision-theoretic planning and HTN planning in order to deal with uncertain, dynamic large-scale real-world domains. We explain how plans are represented, generated and executed. Unlike in regular HTN planning, ProCHiP can generate plans in domains where there is no complete domain theory by using cases instead of...
متن کاملDurative Planning in HTNs
This paper provides techniques for hierarchical task network (HTN) planning with durative actions. HTNs can provide useful heuristic guidance to planners, express goals that cannot be expressed in simple first principles planners, and allow plan generation to be limited by external constraints. The decomposition information in HTN plans can also help guide plan execution. This paper provides a ...
متن کاملEncoding HTN Planning in Propositional Logic
Casting planning problems as propositional satlsfiability problems has recently been shown to be an effective way of scaling up plan synthesis. Until now, the benefits of this approach have only been utUized in primitive action-based planning models. Motivated by the conventional wisdom in the planning community about the effectiveness of hierarchical task network (HTN) planning models, in this...
متن کاملPlanning in Dynamic Environments: Extending HTNs with Nonlinear Continuous Effects
Planning in dynamic continuous environments requires reasoning about nonlinear continuous effects, which previous Hierarchical Task Network (HTN) planners do not support. In this paper, we extend an existing HTN planner with a new state projection algorithm. To our knowledge, this is the first HTN planner that can reason about nonlinear continuous effects. We use a wait action to instruct this ...
متن کامل