Incremental Planning for Truly Integrated Planning and Reaction
Identifieur interne : 00CB50 ( Main/Merge ); précédent : 00CB49; suivant : 00CB51Incremental Planning for Truly Integrated Planning and Reaction
Auteurs : R. WashingtonSource :
Abstract
A common view of planning is to have a separate planner and reactor. Classically the emphasis was on the planner, and the reactor was a simple execution monitor with no inherent problem-solving ability. Recently the emphasis has shifted to the reactor, and the planner is viewed as a subsidiary process. We argue for equal emphasis on the two. This requires a planner that can interact continually with the reactor, receiving new information and incorporating it into its developing plan, and in return supplying the reactor with partial plans to constrain its actions. In this paper we present a planner that we have developed that exhibits these abilities. The planner builds plans incrementally at multiple levels of abstraction, adapting its plans to new information as it arrives, and producing partial plans for the reactor.
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