In this work, we consider the problem of generating practically implementable path plan for flying unmanned aerial vehicles in 3D Complex environments. This problem is complicated by the fact that, generation of the dynamically and geometrically feasible flight trajectories for agile maneuver profiles requires search of nonlinear state space of the aircraft dynamics. This work suggests a two st...

We have developed a new partial order planner called PSIPLAN for open world planning, where the agent does not have complete information about the world and must take actions both to acquire knowledge and to change the world. Incompleteness of the agent's knowledge means that it cannot use the Closed World Assumption (CWA) in the representation of the state and must rely on a diierent method fo...

The tradeoffformulation task is to identify the central issues in a decision problem by recognizing strategies that are inadmissible on qualitative grounds. SUDO-PLANNER formulates tradeoffs for an example medical decision problem by proving decisiontheoretically that certain plan classes are dominated based on a knowledge base of qualitative relations in the domain. The classical planning repr...

I present a probabilistic analysis of propositional STRIPS planning. The analysis considers two assumptions. One is that each possible precondition (likewise postcondition) of an operator is selected independently of other pre-and postconditions. The other is that each operator has a xed number of preconditions (likewise postconditions). Under both assumptions , I derive bounds for when it is h...

Symbolic planning methods have proved to be challenging in robotics due to partial observability and noise as well as unavoidable exceptions to rules that symbol semantics depend on. Often the symbols that a robot considers to support for planning are brittle, making them unsuited for even relatively short term use. Maturing probabilistic methods in robotics, however, are providing a sound basi...

Probabilistic timed automata are an extension of timed automata with discrete probability distributions. We consider model-checking algorithms for the subclasses of probabilistic timed automata which have one or two clocks. Firstly, we show that Pctl probabilistic model-checking problems (such as determining whether a set of target states can be reached with probability at least 0.99 regardless...