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

Authors Tomás Ribeiro, Oscar Lima, Michael Cashmore, Andrea Micheli , Rodrigo Ventura

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Author Details

Tomás Ribeiro
  • Institute for Systems and Robotics, Instituto Superior Tecnico, Lisbon, Portugal
Oscar Lima
  • DFKI German Research Center for Artificial Intelligence, Saabrücken, Germany
Michael Cashmore
  • University of Strathclyde, Glasgow, UK
Andrea Micheli
  • Fondazione Bruno Kessler, Trento, Italy
Rodrigo Ventura
  • Institute for Systems and Robotics, Instituto Superior Tecnico, Lisbon, Portugal


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

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Tomás Ribeiro, Oscar Lima, Michael Cashmore, Andrea Micheli, and Rodrigo Ventura. Olisipo: A Probabilistic Approach to the Adaptable Execution of Deterministic Temporal Plans. In 28th International Symposium on Temporal Representation and Reasoning (TIME 2021). Leibniz International Proceedings in Informatics (LIPIcs), Volume 206, pp. 15:1-15:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2021)


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.

Subject Classification

ACM Subject Classification
  • Computing methodologies → Robotic planning
  • Temporal Planning
  • Temporal Plan Execution
  • Robotics


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