论文标题
强大的计划执行，并意外观察
Robust Plan Execution with Unexpected Observations
论文作者
论文摘要
为了确保计划的强大致动，执行必须适应世界上意外情况和外源性事件。这对于承诺做出错误的行动有序的领域至关重要，即使所有动作成功，也可能导致计划失败。我们提出了一种执行任务计划的方法，该方法允许对国家意外观察的适应性，同时通过在线推理保持计划的有效性。 我们的方法从给定的完全订购的计划中计算出适应性的，部分订购的计划。部分订购的计划具有适应性，因为它可以利用世界与期望之间的有益差异。该方法通常是因为它可以与任何制造完全或部分订购计划的任务计划者一起使用。我们提出了一种计划执行算法，该算法在线计算一组由适应性的部分订购的计划描述的有效的完全订购的计划，以及每个计划的成功概率。然后，该集合用于选择执行的下一个操作。
In order to ensure the robust actuation of a plan, execution must be adaptable to unexpected situations in the world and to exogenous events. This is critical in domains in which committing to a wrong ordering of actions can cause the plan failure, even when all the actions succeed. We propose an approach to the execution of a task plan that permits some adaptability to unexpected observations of the state while maintaining the validity of the plan through online reasoning. Our approach computes an adaptable, partially-ordered plan from a given totally-ordered plan. The partially-ordered plan is adaptable in that it can exploit beneficial differences between the world and what was expected. The approach is general in that it can be used with any task planner that produces either a totally or a partially-ordered plan. We propose a plan execution algorithm that computes online the complete set of valid totally-ordered plans described by an adaptable partially-ordered plan together with the probability of success for each of them. This set is then used to choose the next action to execute.
