In contrast to classical planning, in adversarial planning, the planning agent has to face an adversary trying to prevent him from reaching his goals. In this report, we investigate a forward-chaining approach to adversarial planning based on the AO* algorithm. The exploration of the underlying AND/OR graph is guided by a heuristic evaluation function, inspired by the relaxed planning graph heu...

We illustrate the importance of branching in planning by exploring alternative branching schemes in Graphplan. As argued elsewhere, Graphplan can be understood as a heuristic search planner that performs an IDA* regression search with a heuristic function encoded in the plan graph. Here, we study two alternatives to Graphplan where the IDA* search algorithm and the heuristic encoded in the plan...

The specification of complex motion goals through temporal logics is increasingly favored in robotics to narrow the gap between task and motion planning. A major limiting factor of such logics, however, is their Boolean satisfaction condition. To relax this limitation, we introduce a method for quantifying the satisfaction of co-safe linear temporal logic specifications, and propose a planner t...

ION SWITCH Planning Done ? Resources Alloc ? NO YES NO YES NO YES PLANNER

Legged vehicles have attracted interest for many high-mobility applications, such as military troop support and logistics in rocky, steep, and forested terrain, scientific exploration of cliffs, mountains, and volcanoes on earth and other planets, and search and rescue. Humanoid robots have additional applications in homes and offices as personal assistants. But planning and controlling their m...

The scalability of graph-search algorithms can be greatly extended by using external memory, such as disk, to store generated nodes. We consider structured duplicate detection, an approach to external-memory graph search that limits the number of slow disk I/O operations needed to access search nodes stored on disk by using an abstract representation of the graph to localize memory references. ...

RM) planner applied to the robot with multiple degrees of freedom moving th static obstacles is proved to be efficient. But it is clumsy to environment ed path is usually not optimal and not smooth enough. In order to make the re flexible, this paper integrates the PRM planner with simulated annealing -stage path planner: at first a path is generated by PRM planner, then this ed by SA. If the o...

We show that Gul and Pesendorfer’s [Econometrica 69 (2001) 1403] representation result for preferences with temptation and self-control can be reexpressed in terms of a costly intrapersonal conflict between a Planner and Doer, as in Thaler and Shefrin [J. Political Econ. 89 (1981) 392] and psychologists’ standard view of self-control problems.  2002 Elsevier Science B.V. All rights reserved.

This paper presents some enhancements in the temporal reasoning of a Hierarchical Task Network (HTN) planner, named SIADEX, that, up to authors knowledge, no other HTN planner has. These new features include a sound partial order metric structure, deadlines, temporal landmarking or synchronization capabilities built on top of a Simple Temporal Network [3].

In this paper we solve fundamental graph optimization problems like Maximum Clique and Minimum Coloring with recent advances of Monte-Carlo Search. The optimization problems are implemented as single-agent games in a generic state-space search framework, roughly comparable to what is encoded in PDDL for an action planner.