Planning and Acting While the Clock Ticks
arxiv(2024)
摘要
Standard temporal planning assumes that planning takes place offline and then
execution starts at time 0. Recently, situated temporal planning was
introduced, where planning starts at time 0 and execution occurs after planning
terminates. Situated temporal planning reflects a more realistic scenario where
time passes during planning. However, in situated temporal planning a complete
plan must be generated before any action is executed. In some problems with
time pressure, timing is too tight to complete planning before the first action
must be executed. For example, an autonomous car that has a truck backing
towards it should probably move out of the way now and plan how to get to its
destination later. In this paper, we propose a new problem setting: concurrent
planning and execution, in which actions can be dispatched (executed) before
planning terminates. Unlike previous work on planning and execution, we must
handle wall clock deadlines that affect action applicability and goal
achievement (as in situated planning) while also supporting dispatching actions
before a complete plan has been found. We extend previous work on metareasoning
for situated temporal planning to develop an algorithm for this new setting.
Our empirical evaluation shows that when there is strong time pressure, our
approach outperforms situated temporal planning.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要