Extending Graphplan to Handle Uncertainty and Sensing Actions

本研究是对Graphplan算法的扩展，该算法使用析取表示和局部约束满足技术来处理更广泛的规划，而不是局限于确定性和完全信息的经典规划假设。扩展是允许应急计划、概率计划、富有表现力的感知行动、交错计划和执行以及实值持续时间。正在使用的方法与PI以前研究的特点相同：在理论严谨性(对合理性和完整性的证明)和对实施绩效的经验评估之间取得平衡。实现的源代码将被分发，预计更好、更通用的快速规划算法将result.http://www.cs.washington.edu/homes/weld/weld.html

This research is in extending the Graphplan algorithm, which uses disjunctive representation and local constraint satisfaction techniques to handle a wider variety of planning, rather than being restricted to theclassical planning assumptions of determinism and complete information. Extensions are to allow contingent planning, probabilistic planning, expressive sensing actions, interleaved planning and execution, andreal-valued durations. The same methodology that characterizes the PI's previous research are being used: a balance between theoretical rigor (proofs of soundness and completeness) and empirical evaluation ofimplementation performance. Source code of the implementations will be distributed, and it is anticipated that better, more versatile fast planning algorithms will result.http://www.cs.washington.edu/homes/weld/weld.html