Towards Efficient Anytime Computation and Execution of Decoupled Robustness Envelopes for Temporal Plans
Abstract
One of the major limitations for the employment of model-based planning and scheduling in practical applications is the need of costly re-planning when an incongruence between the observed reality and the formal model is encountered during execution. Robustness Envelopes characterize the set of possible contingencies that a plan is able to address without re-planning, but their exact computation is extremely expensive; furthermore, general robustness envelopes are not amenable for efficient execution. In this paper, we present a novel, anytime algorithm to approximate Robustness Envelopes, making them scalable and executable. This is proven by an experimental analysis showing the efficiency of the algorithm, and by a concrete case study where the execution of robustness envelopes significantly reduces the number of re-plannings.
Cite
@article{arxiv.1911.07318,
title = {Towards Efficient Anytime Computation and Execution of Decoupled Robustness Envelopes for Temporal Plans},
author = {Michael Cashmore and Alessandro Cimatti and Daniele Magazzeni and Andrea Micheli and Parisa Zehtabi},
journal= {arXiv preprint arXiv:1911.07318},
year = {2019}
}
Comments
8 pages, 5 figures