License: Creative Commons Attribution 4.0 International license (CC BY 4.0)
When quoting this document, please refer to the following
DOI: 10.4230/LIPIcs.TIME.2021.15
URN: urn:nbn:de:0030-drops-147913
URL: https://drops.dagstuhl.de/opus/volltexte/2021/14791/
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Ribeiro, Tomás ; Lima, Oscar ; Cashmore, Michael ; Micheli, Andrea ; Ventura, Rodrigo

Olisipo: A Probabilistic Approach to the Adaptable Execution of Deterministic Temporal Plans

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LIPIcs-TIME-2021-15.pdf (1 MB)


Abstract

The robust execution of a temporal plan in a perturbed environment is a problem that remains to be solved. Perturbed environments, such as the real world, are non-deterministic and filled with uncertainty. Hence, the execution of a temporal plan presents several challenges and the employed solution often consists of replanning when the execution fails. In this paper, we propose a novel algorithm, named Olisipo, which aims to maximise the probability of a successful execution of a temporal plan in perturbed environments. To achieve this, a probabilistic model is used in the execution of the plan, instead of in the building of the plan. This approach enables Olisipo to dynamically adapt the plan to changes in the environment. In addition to this, the execution of the plan is also adapted to the probability of successfully executing each action. Olisipo was compared to a simple dispatcher and it was shown that it consistently had a higher probability of successfully reaching a goal state in uncertain environments, performed fewer replans and also executed fewer actions. Hence, Olisipo offers a substantial improvement in performance for disturbed environments.

BibTeX - Entry

@InProceedings{ribeiro_et_al:LIPIcs.TIME.2021.15,
  author =	{Ribeiro, Tom\'{a}s and Lima, Oscar and Cashmore, Michael and Micheli, Andrea and Ventura, Rodrigo},
  title =	{{Olisipo: A Probabilistic Approach to the Adaptable Execution of Deterministic Temporal Plans}},
  booktitle =	{28th International Symposium on Temporal Representation and Reasoning (TIME 2021)},
  pages =	{15:1--15:15},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-206-8},
  ISSN =	{1868-8969},
  year =	{2021},
  volume =	{206},
  editor =	{Combi, Carlo and Eder, Johann and Reynolds, Mark},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/opus/volltexte/2021/14791},
  URN =		{urn:nbn:de:0030-drops-147913},
  doi =		{10.4230/LIPIcs.TIME.2021.15},
  annote =	{Keywords: Temporal Planning, Temporal Plan Execution, Robotics}
}

Keywords: Temporal Planning, Temporal Plan Execution, Robotics
Collection: 28th International Symposium on Temporal Representation and Reasoning (TIME 2021)
Issue Date: 2021
Date of publication: 16.09.2021
Supplementary Material: Software (Source Code): https://github.com/TomasRibeiro96/Olisipo-planner archived at: https://archive.softwareheritage.org/swh:1:dir:21c4dfd9815b8d086ab714a5c687224529ad90af


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