Efficient Anytime Computation and Execution of Decoupled Robustness Envelopes for Temporal Plans

Authors Michael Cashmore , Alessandro Cimatti , Daniele Magazzeni , Andrea Micheli , Parisa Zehtabi

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Michael Cashmore
  • Strathclyde University, Glasgow, UK
Alessandro Cimatti
  • Fondazione Bruno Kessler, Trento, Italy
Daniele Magazzeni
  • Kings College London, UK
Andrea Micheli
  • Fondazione Bruno Kessler, Trento, Italy
Parisa Zehtabi
  • Kings College London, UK


The open access publication of this article was supported by the Alpen-Adria-Universität Klagenfurt, Austria.

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Michael Cashmore, Alessandro Cimatti, Daniele Magazzeni, Andrea Micheli, and Parisa Zehtabi. Efficient Anytime Computation and Execution of Decoupled Robustness Envelopes for Temporal Plans. In 28th International Symposium on Temporal Representation and Reasoning (TIME 2021). Leibniz International Proceedings in Informatics (LIPIcs), Volume 206, pp. 13:1-13:14, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2021)


One of the major limitations for the employment of model-based planning and scheduling in practical applications is the need of costly re-planning when an incongruence between the observed reality and the formal model is encountered during execution. Robustness Envelopes characterize the set of possible contingencies that a plan is able to address without re-planning, but their exact computation is expensive; furthermore, general robustness envelopes are not amenable for efficient execution. In this paper, we present a novel, anytime algorithm to approximate Robustness Envelopes, making them scalable and executable. This is proven by an experimental analysis showing the efficiency of the algorithm, and by a concrete case study where the execution of robustness envelopes significantly reduces the number of re-plannings.

Subject Classification

ACM Subject Classification
  • Computing methodologies → Robotic planning
  • Temporal Planning
  • Robustness Envelopes


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