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The Global ETD Search service is a free service for researchers
to find electronic theses and dissertations. This service is
provided by the
Networked Digital Library of Theses and Dissertations.
Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
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Showing 1 to 2 of 2 (0.06 seconds)| 1 |
Temporal Task and Motion Plans: Planning and Plan Repair : Repairing Temporal Task and Motion Plans Using Replanning with Temporal Macro Operators / Temporal uppgifts- och rutt-planering och planreparationHansson, Erik January 2018 (has links)
This thesis presents an extension to the Temporal Fast Downward planning system that integrates motion planning in it and algorithms for generating two types of temporal macro operators expressible in PDDL2.1. The extension to the Temporal Fast Downward planning system includes, in addition to the integration of motion planning itself, an extension to the context-enhanced additive heuristic that uses information from the motion planning part to improve the heuristic estimate. The temporal macro operators expressible in PDDL2.1 are, to the author's knowledge, an area that is not studied within the context of plan repair before. Two types of temporal macro operators are presented along with algorithms for automatically constructing and using them when solving plan repair problems by replanning. Both the heuristic extension and the temporal macro operators were evaluated in the context of simulated unmanned aerial vehicles autonomously executing reconnaissance missions to identify targets and avoiding threats in unexplored areas. The heuristic extension was proved to be very helpful in the scenario. Unfortunately, the evaluation of the temporal macro operators indicated that the cost of introducing them is higher than the gain of using them for the scenario.
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New Heuristics for Planning with Action CostsKeyder, Emil Ragip 17 December 2010 (has links)
Classical planning is the problem of nding a sequence of actions that take
an agent from an initial state to a desired goal situation, assuming deter-
ministic outcomes for actions and perfect information. Satis cing planning
seeks to quickly nd low-cost solutions with no guarantees of optimality. The
most e ective approach for satis cing planning has proved to be heuristic
search using non-admissible heuristics. In this thesis, we introduce several
such heuristics that are able to take into account costs on actions, and there-
fore try to minimize the more general metric of cost, rather than length, of
plans, and investigate their properties and performance. In addition, we show
how the problem of planning with soft goals can be compiled into a classical
planning problem with costs, a setting in which cost-sensitive heuristics such
as those presented here are essential. / La plani caci on cl asica es el problema que consiste en hallar una secuencia de
acciones que lleven a un agente desde un estado inicial a un objetivo, asum-
iendo resultados determin sticos e informaci on completa. La plani caci on
\satis cing" busca encontrar una soluci on de bajo coste, sin garant as de op-
timalidad. La b usqueda heur stica guiada por heur sticas no admisibles es el
enfoque que ha tenido mas exito. Esta tesis presenta varias heur sticas de
ese g enero que consideran costes en las acciones, y por lo tanto encuentran
soluciones que minimizan el coste, en lugar de la longitud del plan. Adem as,
demostramos que el problema de plani caci on con \soft goals", u objetivos
opcionales, se puede reducir a un problema de plani caci on clasica con costes
en las acciones, escenario en el que heur sticas sensibles a costes, tal como las
aqu presentadas, son esenciales.
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