Planning under uncertainty is a central topic at the intersection of disciplines such as artificial intelligence, cognitive science and robotics, and its aim is to enable artificial agents to solve challenging problems through a systematic approach to decision-making. Some of these challenges include generating expectations about different outcomes governed by a probability distribution and estimating the utility of actions based only on partial information. In addition, an agent must incorporate observations or information from the environment into its deliberation process and produce the next best action to execute, based on an updated understanding of the world. This process is commonly modeled as a POMDP, a discrete stochastic system that becomes intractable very quickly. Many real-world problems, however, can be simplified following cues derived from contextual information about the relative expected value of actions. Based on an intuitive approach to problem solving, and relying on ideas related to attention and relevance estimation, we propose a new approach to planning supported by our two main contributions: PGS grants an agent the ability to generate internal preferences and biases to guide action selection, and IRE allows the agent to reduce the dimensionality of complex problems while planning online. Unlike existing work that improves the performance of planning on POMDPs, PGS and IRE do not rely on detailed heuristics or domain knowledge, explicit action hierarchies or manually designed dependencies for state factoring. Our results show that this level of autonomy is important to solve increasingly more challenging problems, where manually designed simplifications scale poorly.

Autonomous vehicles promise to play an important role aiming at increased efficiency and safety in road transportation. Although we have seen several examples of autonomous vehicles out on the road over the past years, how to ensure the safety of autonomous vehicle in the uncertain and dynamic environment is still a challenging problem. This thesis studies this problem by developing a risk-aware decision making framework. The system that integrates the dynamics of an autonomous vehicle and the uncertain environment is modelled as a Partially Observable Markov Decision Process (POMDP). A risk measure is proposed based on the Responsibility-Sensitive Safety (RSS) distance, which quantifying the minimum distance to other vehicles for ensuring safety. This risk measure is incorporated into the reward function of POMDP for achieving a risk-aware decision making. The proposed risk-aware POMDP framework is evaluated in two case studies. In a single-lane car following scenario, it is shown that the ego vehicle is able to successfully avoid a collision in an emergency event where a vehicle in front of it makes a full stop. In the merge scenario, the ego vehicle successfully enters the main road from a ramp with a satisfactory distance to other vehicles. As a conclusion, the risk-aware POMDP framework is able to realize a trade-off between safety and usability by keeping a reasonable distance and adapting to other vehicles behaviours. / Autonoma fordon förutspås spela en stor roll i framtiden med målen att förbättra effektivitet och säkerhet för vägtransporter. Men även om vi sett flera exempel av autonoma fordon ute på vägarna de senaste åren är frågan om hur säkerhet ska kunna garanteras ett utmanande problem. Det här examensarbetet har studerat denna fråga genom att utveckla ett ramverk för riskmedvetet beslutsfattande. Det autonoma fordonets dynamik och den oförutsägbara omgivningen modelleras med en partiellt observerbar Markov-beslutsprocess (POMDP från engelskans “Partially Observable Markov Decision Process”). Ett riskmått föreslås baserat på ett säkerhetsavstånd förkortat RSS (från engelskans “Responsibility-Sensitive Safety”) som kvantifierar det minsta avståndet till andra fordon för garanterad säkerhet. Riskmåttet integreras i POMDP-modellens belöningsfunktion för att åstadkomma riskmedvetna beteenden. Den föreslagna riskmedvetna POMDP-modellen utvärderas i två fallstudier. I ett scenario där det egna fordonet följer ett annat fordon på en enfilig väg visar vi att det egna fordonet kan undvika en kollision då det framförvarande fordonet bromsar till stillastående. I ett scenario där det egna fordonet ansluter till en huvudled från en ramp visar vi att detta görs med ett tillfredställande avstånd till andra fordon. Slutsatsen är att den riskmedvetna POMDP-modellen lyckas realisera en avvägning mellan säkerhet och användbarhet genom att hålla ett rimligt säkerhetsavstånd och anpassa sig till andra fordons beteenden.

[pt] Neste trabalho pretende-se mostrar a relevância da realização do planejamento, mesmo em situações complexas que envolvam os mais diversos fatores internos e externos à organização, e a importância de saber a melhor forma de tomada de decisão de acordo com cada circunstância. Visando compreender os elementos estratégicos de uma empresa inserida em um mercado altamente dinâmico, desenvolveu-se um arcabouço teórico tratando de planejamento em condições de incerteza e análise do ambiente organizacional. Tendo como base esses elementos, elaborou-se uma avaliação do setor de aviação comercial e uma análise estratégica companhia aérea VARIG Brasil. Os resultados dessa avaliação indicaram as deficiências do posicionamento estratégico dessa metodologia dos processos decisórios para que se possa obter melhor desempenho. / [en] The objective of this dissertation is to show the relevance of planning even in complex situations, involving the most diverse factors, internal or external to the organization, as well as the importance of recognizing the best alternatives in decision making, according to each circumstance. Willing to understand the strategic elements of an organization inserted in a highly dynamic market, a theoretical basis has been developed dealing with planning under uncertainty and organizational environment analysis. With such basic elements, an evaluation of the commercial aviation business and a strategic analysis of VARIG Brasil airline were elaborated. The results of this evaluation indicated the deficiencies of the strategic position of the Company and pointed out the need of a revaluating and improving the decision process in order to attain better performance.

The thesis is that automation of en-route Air Traffic Management in high complexity airspace can be achieved with a combination of automated tactic planning in a look-ahead time horizon of up to two hours complemented with automated tactic conflict resolution functions. The literature review reveals that no significant results have yet been obtained and that full automation could be approached with a complementary integration of automated tactic resolutions AND planning. The focus shifts to ‘planning for capacity’ and ‘planning for resolution’ and also – but not only – for ‘resolution’. The work encompasses a theoretical part on planning, and several small scale studies of empirical, mathematical or simulated nature. The theoretical part of the thesis on planning under uncertainties attempts to conceive a theoretical model which abstracts specificities of planning in Air Traffic Management into a generic planning model. The resulting abstract model treats entities like the planner, the strategy, the plan and the actions, always considering the impact of uncertainties. The work innovates in specifying many links from the theory to the application in planning of air traffic management, and especially the new fields of tactical capacity management. The second main part of the thesis comprises smaller self-containing works on different aspects of the concept grouped into a section on complexity, another on tactic planning actions, and the last on planners. The produced studies are about empirical measures of conflicts and conflict densities to get a better understanding of the complexity of air traffic; studies on traffic organisation using tactical manoeuvres like speed control, lateral offset and tactical direct using fast time simulation; and studies on airspace design like sector optimisation, dynamic sectorisation and its optimisation using optimisation techniques. In conclusion it is believed that this work will contribute to further automation attempts especially by its innovative focus which is on planning, base on a theory of planning, and its findings already influence newer developments.

In this thesis, we study three supply chain planning problems. The first two problems fall in the tactical planning level, while the third one falls in the strategic/tactical level. We present a direct application for the first two planning problems in the wind turbines industry. For the third problem, we show how it can be applied to supply chains in the food industry. Many countries and localities have the explicitly stated goal of increasing the fraction of their electrical power that is generated by wind turbines. This has led to a rapid growth in the manufacturing and installation of wind turbines. The globally installed capacity for the manufacturing of different components of the wind turbine is nearly fully utilized. Because of the large penalties for missing delivery deadlines for wind turbines, the effective planning of its supply chain has a significant impact on the profitability of the turbine manufacturers. Motivated by the planning challenges faced by one of the world’s largest manufacturers of wind turbines, we present a comprehensive tactical supply chain planning model for manufacturing of wind turbines in the first part of this thesis. The model is multi-period, multi-echelon, and multi-commodity. Furthermore, the model explicitly incorporates backorder penalties with a general cost structure, i.e., the cost structure does not have to be linear in function of the backorder delay. To the best of our knowledge, modeling-based supply chain planning has not been applied to wind turbines, nor has a model with all the above mentioned features been described in the literature. Based on real-world data, we present numerical results that show the significant impact of the capability to model backorder penalties with general cost structures on the overall cost of supply chains for wind turbines. With today’s rapidly changing global market place, it is essential to model uncertainty in supply chain planning. In the second part of this thesis, we develop a two-stage stochastic programming model for the comprehensive tactical planning of supply chains under supply uncertainty. In the first stage, procurement decisions are made while in the second stage, production, inventory, and delivery decisions are made. The considered supply uncertainty combines supplier random yields and stochastic lead times, and is thus the most general form of such uncertainty to date. We apply our model to the same wind turbines supply chain. We illustrate theoretical and numerical results that show the impact of supplier uncertainty/unreliability on the optimal procurement decisions. We also quantify the value of modeling uncertainty versus deterministic planning. Supplier selection with quantity discounts has been an active research problem in the operations research community. In this the last part of this thesis, we focus on a new quantity discounts scheme offered by suppliers in some industries. Suppliers are selected for a strategic planning period (e.g., 5 years). Fixed costs associated with suppliers’ selection are paid. Orders are placed monthly from any of the chosen suppliers, but the quantity discounts are based on the aggregated annual order quantities. We incorporate all this in a multi-period multi-product multi-echelon supply chain planning problem and develop a mixed integer programming (MIP) model for it. Leading commercial MIP solvers take 40 minutes on average to get any feasible solution for realistic instances of our model. With the aim of getting high-quality feasible solutions quickly, we develop an algorithm that constructs a good initial solution and three other iterative algorithms that improve this initial solution and are capable of getting very fast high quality primal solutions. Two of the latter three algorithms are based on MIP-based local search and the third algorithm incorporates a variable neighborhood Descent (VND) combining the first two. We present numerical results for a set of instances based on a real-world supply chain in the food industry and show the efficiency of our customized algorithms. The leading commercial solver CPLEX finds only a very few feasible solutions that have lower total costs than our initial solution within a three hours run time limit. All our iterative algorithms well outperform CPLEX. The VND algorithm has the best average performance. Its average relative gap to the best known feasible solution is within 1% in less than 40 minutes of computing time.