Related papers: Planning and Acting While the Clock Ticks
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
We propose a timed and soft extension of Concurrent Constraint Programming. The time extension is based on the hypothesis of bounded asynchrony: the computation takes a bounded period of time and is measured by a discrete global clock.…
Embedded hard real time systems require substantial amount of emergency processing power for the management of large scale systems like a nuclear power plant under the threat of an earth quake or a future transport systems under a peril. In…
New optical technologies offer the ability to reconfigure network topologies dynamically, rather than setting them once and for all. This is true in both optical wide area networks (optical WANs) and in datacenters, despite the many…
Hoist scheduling has become a bottleneck in electroplating industry applications with the development of autonomous devices. Although there are a few approaches proposed to target at the challenging problem, they generally cannot scale to…
Planning is one of the most studied problems in computer science. In this paper, we consider the timeline-based approach, where the domain is modeled by a set of independent, but interacting, components, identified by a set of state…
A robot deployed in a home over long stretches of time faces a true lifelong learning problem. As it seeks to provide assistance to its users, the robot should leverage any accumulated experience to improve its own knowledge and…
This paper studies a novel planning problem for multiple agents that cannot share holding resources, named OTIMAPP (Offline Time-Independent Multi-Agent Path Planning). Given a graph and a set of start-goal pairs, the problem consists in…
Motion planning involves decision making among combinatorial maneuver variants in urban driving. A planner must consider uncertainties and associated risks of the maneuver variants, and subsequently select a maneuver alternative. In this…
We consider a project that consists of activities to be performed in parallel under various temporal constraints, which include start-start, start-finish and finish-start precedence relationships, release times, deadlines, and due dates.…
We consider the problem of estimating timing of measurements and actuation in distributed sensor and control systems with central processing. The focus is on direct timing estimation for scenarios where clock synchronization is not feasible…
In warehousing systems, to enhance logistical efficiency amid surging demand volumes, much focus is placed on how to reasonably allocate tasks to robots. However, the robots labor is still inevitably wasted to some extent. In response to…
Real-life parallel machine scheduling problems can be characterized by: (i) limited information about the exact task duration at scheduling time, and (ii) an opportunity to reschedule the remaining tasks each time a task processing is…
We address the problem of applying Task and Motion Planning (TAMP) in real world environments. TAMP combines symbolic and geometric reasoning to produce sequential manipulation plans, typically specified as joint-space trajectories, which…
In this paper we study time-dependent scheduling problems where activities consume a resource with limited availability. Activity durations as well as resource consumptions are assumed to be time-dependent and the resource can be…
The time-changing nature of our world demands processing of huge amounts of information in fast and reliable way to generate successful behaviors. Therefore, significant brain resources are devoted to process spatiotemporal information.…
Work-stealing systems are typically oblivious to the nature of the tasks they are scheduling. For instance, they do not know or take into account how long a task will take to execute or how many subtasks it will spawn. Moreover, the actual…
Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…
Identifying the specific actions that achieve goals when solving a planning task might be beneficial for various planning applications. Traditionally, this identification occurs post-search, as some actions may temporarily achieve goals…
An intelligent agent operating in the real-world must balance achieving its goal with maintaining the safety and comfort of not only itself, but also other participants within the surrounding scene. This requires jointly reasoning about the…