Core Concepts
Introducing a metareasoning approach for concurrent planning and execution, optimizing decision-making during search.
Abstract
This content delves into the concept of concurrent planning and execution, proposing a new problem setting that allows actions to be dispatched before planning terminates. The article discusses the theoretical framework, practical implementation within a planner, empirical evaluation using robotic scenarios, and future directions for integrating this approach with real-world robots.
Abstract:
- Standard temporal planning vs. situated temporal planning.
- Proposal of concurrent planning and execution.
- Algorithm development based on metareasoning principles.
Introduction:
- Agents operating in real-world scenarios.
- Situated temporal planning considerations.
- Need for concurrent planning and execution.
Problem Statement:
- Definition of concurrent planning and execution problem.
- Formalization of problem instance tuple Π.
- Distinction between concurrent planning and situated temporal planning.
Prior Work:
- Overview of abstract metareasoning models.
- Rational metareasoning for computational actions.
- CoPE model extension for Concurrent Planning & Execution.
Metareasoning in a Planner:
- Integration of DDA decision rule in practice.
- Admissible deadline estimation for nodes.
- Decision-making process based on LPF values.
Metareasoning with Measurement Model:
- Introduction of CoPEM model extension.
- Fully resolved instances vs. extended cases with measurements.
- Basic tractable case analysis and algorithmic solutions.
Implementation within the Planner:
- State-space modifications to support acting concurrently.
- Dispatch estimates during search based on LPF approximations.
- Metareasoning rules for action dispatch decisions.
Empirical Evaluation:
- Comparison between approaches using RCLL problems.
- Impact of CPU speed on problem-solving capabilities.
Discussion and Future Work:
- Challenges in integrating with real robots.
- Handling uncertainty in action durations and failures.
- Potential use cases in space exploration missions.
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