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Piergiorgio Bertoli, Alessandro Cimatti, Paolo Traverso
Methods that interleave planning and execution are a practical solution to deal with complex planning problems in nondeterministic domains under partial observability. However, most of the existing approaches do not tackle in a principled way the important issue of termination of the planning-execution loop, or only do so considering specific assumptions over the domains. In this paper, we tackle the problem of interleaving planning and execution relying on a general framework, which is able to deal with nondeterministic, partially observable planning domains. We propose a new, general planning algorithm that guarantees the termination of the interleaving of planning and execution: either the goal is achieved, or the system detects that there is no longer a guarantee to progress toward it. Our experimental analysis shows that our algorithm can efficiently solve planning problems that cannot be tackled with a state of the art off-line planner for nondeterministic domains under partial observability, MBP. Moreover, we show that our algorithm can efficiently detect situations where progress toward the goal can be no longer guaranteed.
Keywords: Planning
Citation: Piergiorgio Bertoli, Alessandro Cimatti, Paolo Traverso: Interleaving Execution and Planning for Nondeterministic, Partially Observable Domains. In R.López de Mántaras and L.Saitta (eds.): ECAI2004, Proceedings of the 16th European Conference on Artificial Intelligence, IOS Press, Amsterdam, 2004, pp.657-661.
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