Multirobot path planning and task assignment are traditionally treated separately, however task assignment can greatly impact the difficulty of the path planning problem, and the ultimate quality of solution is dependent upon both. We introduce task reassignment, an approach to optimally solving the coupled task assignment and path planning problems. We show that task reassignment improves solu...

AI planning techniques are beginning to find use in a number of practical planning domains. However, the backward-chaining and partial-order-planning control strategies traditionally used in AI planning systems are not necessarily the best ones to use for practical planning problems. In this paper, we discuss some of the difficulties that can result from the use of backward chaining and partial...

The planning process is central to goal-directed behaviour in any task that requires the organization of a series of actions aimed at achieving a goal. Although the planning process has been investigated thoroughly, relatively little is known about how this process emerges and evolves during childhood. In this paper we describe three reinforcement learning models of planning, in the Tower of Lo...