Flexible Execution of Plans with Choice

Dynamic plan execution strategies allow an autonomous agent to respond to uncertainties while improving robustness and reducing the need for an overly conservative plan. Executives have improved this robustness by expanding the types of choices made dynamically, such as selecting alternate methods. However, in methods to date, these additional choices introduce substantial run-time latency. This paper presents a novel system called Drake that makes steps towards executing an expanded set of choices dynamically without significant latency. Drake frames a plan as a Disjunctive Temporal Problem and executes it with a fast dynamic scheduling algorithm. Prior work demonstrated an efficient technique for dynamic execution of one special type of DTPs by using an off-line compilation step to find the possible consistent choices and compactly record the differences between them. Drake extends this work to handle a more general set of choices by recording the minimal differences between the solutions which are required at run-time. On randomly generated structured plans with choice, we show a reduction in the size of the solution set of over two orders of magnitude, compared to prior