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l10_dyn_sche_exe

# l10_dyn_sche_exe - Outline Temporal Plan Execution Dynamic...

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Temporal Plan Execution: Dynamic Scheduling and Simple Temporal Networks Outline Review: Constraint -based Interval Planning • Simple Temporal Networks • Temporal Consistency and Scheduling • Execution Under Uncertainty Brian C. Williams 16.412J/6.834J March 7 th , 2005 1 Simple Spacecraft Problem 1 target instruments 2 3 4 calibrated pointing Example I x Im c p x p C Init Actions C c T y ¬p x p y p x I A Goal p C 16.410/13: Solved using Graph ) Observation- Observation- Observation- Observation- -based Planners (Blum & Furst Partial Order Causal Link Planning (SNLP, UCPOP) 1. Select an open condition 2. Choose an op that can achieve it Link to an existing instance Add a new instance 3. Resolve threats I A F Im c p A I A F p C C Im I A F c p A C p C Im I A F c p A S T A ¬p C C p C Im I A F c p A S p C T A ¬p C C p C Im I A F c p A S p C Based on slides by Dave Smith, NASA Ames Needed Extensions Time Resources Utility Uncertainty

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Based on slides by Dave Smith, NASA Ames Representing Timing: Qualitative Temporal Relations [Allen AAAI83] A B A before B A B A meets B A B A overlaps B A contains B A B A = B A B A B A starts B A B A ends B Based on slides by Dave Smith, NASA Ames Pointing(?target) Image(?target) meets contains contains Pointing(?target) meets Image(?target) TakeImage Pictorially Status(?instr, Calibrated) TakeImage(?target, ?instr) TakeImage (?target, ?instr) contained-by Status(?instr, Calibrated) contained-by Based on slides by Dave Smith, NASA Ames A Temporal Planning Problem Past Image(?target) meets Pointing(Earth) Status(Cam1, Off) Status(Cam2, On) CalibrationTarget(T17) Future meets 8 Based on slides by Dave Smith, NASA Ames A Consistent Complete Temporal Plan Pointing(Earth) Status(Cam1, Off) Status(Cam2, On) CalibrationTarget(T17) Image(A7) Pointing(A7) Status(Cam2, Calibrated) TakeImage(A7, Cam2) meets contains contains Turn(A7) Pointing(T17) Calibrate(Cam2) meets meets meets meets contains contains Turn(T17) meets meets Future meets 8 Past meets -8 -8 Based on slides by Dave Smith, NASA Ames CBI Planning Algorithm Choose: introduce an action & instantiate constraints coalesce propositions Propagate temporal constraints A Consistent Complete Temporal Plan Pointing(Earth) Status(Cam1, Off) Status(Cam2, On) CalibrationTarget(T17) Image(A7) Pointing(A7) Status(Cam2, Calibrated) TakeImage(A7, Cam2) meets contains contains Turn(A7) Pointing(T17) Calibrate(Cam2) meets meets meets meets contains contains Turn(T17) meets meets Future meets 8 Past meets Planner Must: execute. -8 • Check schedulability of candidate plans for correctness. • Schedule the activities of a complete plan in order to
Based on slides by Dave Smith, NASA Ames Relation to Causal Links & Threats proposition action meets meets action action action proposition action action proposition action threatens proposition action action proposition mutex POCL CBI Causal links: Threats : Based on slides by Dave Smith, NASA Ames Examples of CBI Planners intervals, no CSP Trains (Allen) extreme least commitment functional rep.

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l10_dyn_sche_exe - Outline Temporal Plan Execution Dynamic...

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