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DOI: 10.4230/LIPIcs.TIME.2021.13

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

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

Published in: LIPIcs, Volume 206, 28th International Symposium on Temporal Representation and Reasoning (TIME 2021)

Abstract

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.

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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)

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@InProceedings{cashmore_et_al:LIPIcs.TIME.2021.13,
  author =	{Cashmore, Michael and Cimatti, Alessandro and Magazzeni, Daniele and Micheli, Andrea and Zehtabi, Parisa},
  title =	{{Efficient Anytime Computation and Execution of Decoupled Robustness Envelopes for Temporal Plans}},
  booktitle =	{28th International Symposium on Temporal Representation and Reasoning (TIME 2021)},
  pages =	{13:1--13:14},
  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/entities/document/10.4230/LIPIcs.TIME.2021.13},
  URN =		{urn:nbn:de:0030-drops-147895},
  doi =		{10.4230/LIPIcs.TIME.2021.13},
  annote =	{Keywords: Temporal Planning, Robustness Envelopes}
}

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

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