Orlandini, Andrea and Finzi, Alberto and Cesta, Amedeo and Fratini, Simone (2011) TGA-based Controllers for Flexible Plan Execution. In: KI 2011: Advances in Artificial Intelligence. 34th Annual German Conference on AI Berlin, Germany, October 4-7, 2011 Proceedings. Lecture Notes in Artificial Intelligence, volume 7006, Subseries of Lecture Notes in Computer Science . Springer, pp. 233-245. ISBN 978-3-642-24454-4

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Tipologia del documento:	Capitolo di libro
Lingua:	English
Titolo:	TGA-based Controllers for Flexible Plan Execution
Autori:	Autore Email Orlandini, Andrea [non definito] Finzi, Alberto [non definito] Cesta, Amedeo [non definito] Fratini, Simone [non definito]
Data:	2011
Tipo di data:	Pubblicazione
Numero di pagine:	13
Istituzione:	Università degli Studi di Napoli Federico II
Dipartimento:	Ingegneria elettrica e delle Tecnologie dell'Informazione
Titolo dell'opera che contiene il documento:	KI 2011: Advances in Artificial Intelligence. 34th Annual German Conference on AI Berlin, Germany, October 4-7, 2011 Proceedings
Editore:	Springer
Data:	2011
Titolo della serie:	Lecture Notes in Artificial Intelligence, volume 7006, Subseries of Lecture Notes in Computer Science
ISBN:	978-3-642-24454-4
Intervallo di pagine:	pp. 233-245
Numero di pagine:	13
Diritti di accesso:	Accesso ristretto
Informazioni aggiuntive:	AIRobots
Depositato il:	18 Giu 2014 11:33
Ultima modifica:	17 Mag 2017 17:25
URI:	http://www.fedoa.unina.it/id/eprint/9584

Abstract

Plans synthesized by Temporal Planning and Scheduling systems may be temporally flexible hence they identify an envelope of possible solutions. Such flexibility can be exploited by an executive systems for robust on-line execution. Recent works have addressed aspects of plan execution using a quite general approach grounded on formal modeling and formal methods. The present work extends such an approach by presenting the formal synthesis of a plan controller associated to a flexible temporal plan. In particular, the controller synthesis exploits Timed Game Automata (TGA) for formal modeling and UPPAAL-TIGA as a model checker. After presenting a formal extension, the paper introduces a detailed experimental analysis on a real-world case study that demonstrates the viability of the approach. In particular, it is shown how the controller synthesis overhead is compatible with the performance expected from a short-horizon planner.

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