Extending Graphplan to Handle Uncertainty and Sensing Actions

本研究是在扩展图规划算法，它使用析取表示和局部约束满足技术来处理更广泛的规划，而不是被限制在经典的规划假设的确定性和完整的信息。 扩展是为了允许应急规划，概率规划，表达感测行动，交错规划和执行，以及实值持续时间。 与PI以前的研究相同的方法正在使用：理论严谨性（可靠性和完整性的证明）和实施性能的经验评估之间的平衡。 实现的源代码将被分发，并且预计更好的、更通用的快速规划算法将被发布到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