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, Of ) 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, Of ) 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
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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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This note was uploaded on 11/07/2011 for the course AERO 16.410 taught by Professor Brianwilliams during the Fall '05 term at MIT.

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l10_dyn_sche_exe - Outline Temporal Plan Execution: Dynamic...

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