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首页> 外文会议>Proceedings of the Twentieth international conference on automated planning and scheduling >Forward-Chaining Partial-Order Planning
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Forward-Chaining Partial-Order Planning

机译：前向连锁部分订单计划

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摘要

Over the last few years there has been a revival of interest in the idea of least-commitment planning with a number of researchers returning to the partial-order planning approaches of ucpop and vhpop. In this paper we explore the potential of a forward-chaining state-based search strategy to support partial-order planning in the solution of temporal-numeric problems. Our planner, popf, is built on the foundations of grounded forward search, in combination with linear programming to handle continuous linear numeric change. To achieve a partial ordering we delay commitment to ordering decisions, timestamps and the values of numeric parameters, managing sets of constraints as actions are started and ended. In the context of a partially ordered collection of actions, constructing the linear program is complicated and we propose an efficient method for achieving this. Our late-commitment approach achieves flexibility, while benefiting from the informative search control of forward planning, and allows temporal and metric decisions to be made - as is most efficient -by the LP solver rather than by the discrete reasoning of the planner. We compare popf with the approach of constructing a sequenced plan and then lifting a partial order from it, showing that our approach can offer improvements in terms of makespan, and time to find a solution, in several benchmark domains.
机译：在过去的几年中，人们对最小承诺计划的想法重新产生了兴趣，许多研究人员返回了ucpop和vhpop的部分顺序计划方法。在本文中，我们探索了基于前向链状态搜索策略支持时态数字问题解决方案中部分订单计划的潜力。我们的计划程序popf是建立在扎实的前向搜索基础之上的，结合了线性编程来处理连续的线性数值变化。为了实现部分排序，我们会延迟对排序决策，时间戳和数字参数值的承诺，并在操作开始和结束时管理约束集。在部分顺序收集动作的情况下，构建线性程序很复杂，我们提出了一种有效的方法来实现这一目标。我们的后期承诺方法可实现灵活性，同时受益于前瞻性计划的信息搜索控制，并且允许LP解算器而不是规划器的离散推理来做出时间和度量决策，这是最有效的。我们将popf与构建顺序计划然后从中取消部分顺序的方法进行了比较，表明我们的方法可以在几个基准域中提供改进的制造时间和找到解决方案的时间。

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