Towards Efficient Anytime Computation and Execution of Decoupled Robustness Envelopes for Temporal Plans

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Cashmore, Michael and Cimatti, Alessandro and Magazzeni, Daniele and Micheli, Andrea and Zehtabi, Parisa (2019) Towards Efficient Anytime Computation and Execution of Decoupled Robustness Envelopes for Temporal Plans. Preprint / Working Paper. arXiv.org, Ithica, N.Y..

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Abstract

One of the major limitations for the employment of model-based planning and scheduling in practical applications is the need of costly re-planning when an incongruence between the observed reality and the formal model is encountered during execution. Robustness Envelopes characterize the set of possible contingencies that a plan is able to address without re-planning, but their exact computation is extremely expensive; furthermore, general robustness envelopes are not amenable for efficient execution. In this paper, we present a novel, anytime algorithm to approximate Robustness Envelopes, making them scalable and executable. This is proven by an experimental analysis showing the efficiency of the algorithm, and by a concrete case study where the execution of robustness envelopes significantly reduces the number of re-plannings.

ORCID iDs

Cashmore, Michael ORCID logoORCID: https://orcid.org/0000-0002-8334-4348, Cimatti, Alessandro, Magazzeni, Daniele, Micheli, Andrea and Zehtabi, Parisa;
CORE (COnnecting REpositories)