ACTION FAILURE RECOVERY VIA MODEL‐BASED DIAGNOSIS AND CONFORMANT PLANNING
ACTION FAILURE RECOVERY VIA MODEL‐BASED DIAGNOSIS AND CONFORMANT PLANNING
复制标题
通过基于模型的诊断和一致性规划进行操作故障恢复
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Roberto Micalizio
中科院分区：
文献类型：
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作者：
Roberto Micalizio
在真实的世界中执行的计划可能受到许多意外事件、计划威胁的影响，这些事件、计划威胁导致计划执行者的预期行为（即，代理人）和观察者。这些偏差通常被视为行动失败。本文讨论的问题，从行动失败造成的一类特定的计划威胁：故障的代理的功能。这个问题是通过利用基于模型的诊断（MBD）技术来检测故障（计划执行监控）和解释这些故障的故障功能（代理诊断）。恢复过程被建模为一个重新规划的问题，旨在修复代理诊断确定的故障组件。然而，由于诊断通常是模糊的（故障可能由替代故障解释），恢复必须处理这种不确定性。本文主张采用一致的计划，这保证了恢复计划，如果它存在，是可执行的，无论故障的实际原因是什么。该文件侧重于一个单一的代理执行自己的计划，但建议的方法也考虑到，代理通常位于一个多代理的情况下，代理之间的承诺可能存在。因此，修复策略的设想，以克服失败的原因，同时确保代理人已同意与其他团队成员的承诺。
A plan carried on in the real world may be affected by a number of unexpected events, plan threats, which cause significant deviations between the intended behavior of the plan executor (i.e., the agent) and the observed one. These deviations are typically considered as action failures. This paper addresses the problem of recovering from action failures caused by a specific class of plan threats: faults in the functionalities of the agent. The problem is approached by exploiting techniques of the Model‐Based Diagnosis (MBD) for detecting failures (plan execution monitoring) and for explaining these failures in terms of faulty functionalities (agent diagnosis). The recovery process is modeled as a replanning problem aimed at fixing the faulty components identified by the agent diagnosis. However, since the diagnosis is in general ambiguous (a failure may be explained by alternative faults), the recovery has to deal with such an uncertainty. The paper advocates the adoption of a conformant planner, which guarantees that the recovery plan, if it exists, is executable no matter what the actual cause of the failure. The paper focuses on a single agent performing its own plan, however the proposed methodology takes also into account that agents are typically situated into a multiagent scenario and that commitments between agents may exist. The repair strategy is therefore conceived to overcome the causes of a failure while assuring the commitments an agent has agreed with other team members.