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The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including by researchers from the Department of Computer & Information Sciences involved in mathematically structured programming, similarity and metric search, computer security, software systems, combinatronics and digital health.

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A non-deterministic planner for planetary rovers

Ceriotti, M. and Croisard, Nicolas and Vasile, Massimiliano (2007) A non-deterministic planner for planetary rovers. In: International Joint Conference on Artificial Intelligence (IJCAI), 2007-01-06 - 2007-01-12.

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Abstract

This paper presents an integrated planning and scheduling algorithm based on co-evolutionary algorithms. This planner is the core of the delibera-tive level of a three-layer autonomous system (called Wisdom) for planetary rovers. The planner operates at two different levels: at a higher level reallocates and transforms mission goals, based on contingent events, in order to reach scientifically interesting targets and minimize the risk of a failure, at a lower level it generates scheduled sequences of actions that optimize a number of objectives. A particular implementation of co-evolutionary algorithms is used to generate sets of Pareto-optimal plans for every given sequence of goals. Some tests will illustrate the main characteristics of the algorithm.