Replanning Using Hierarchical Task Network and Operator-Based Planning
نویسندگان
چکیده
Ill order to scale-up to real-~vorlcl problems, planning systems must be able to rc~)lal) in order to deal with changes i~~ problerll context. In this paper we describe hierarchical task network and operatorbased rc-planning techniclues which allow adaptation of a previous plan to account for problems associated with executing plans in real-world d~ mains with uncertainty, concurrency, changing objectives. We focus on repla!lning which preserves elements of the original plan in order to use xnore reliable domain knowledge ancl to facilitate user uuderstancling of I)roducr.d F,lans, We also presel,t el[ipirical results documenting the effectiveness of these techniques in a NASA antenna operations application. 2
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