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
![]() |
Text
2F978-3-642-24455-1_22.pdf Visibile a [TBR] Repository staff only Download (1MB) |
Item Type: | Book Section | ||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|
Lingua: | English | ||||||||||
Title: | TGA-based Controllers for Flexible Plan Execution | ||||||||||
Creators: |
|
||||||||||
Date: | 2011 | ||||||||||
Date Type: | Publication | ||||||||||
Number of Pages: | 13 | ||||||||||
Institution: | Università degli Studi di Napoli Federico II | ||||||||||
Department: | Ingegneria elettrica e delle Tecnologie dell'Informazione | ||||||||||
Title of Book: | KI 2011: Advances in Artificial Intelligence. 34th Annual German Conference on AI Berlin, Germany, October 4-7, 2011 Proceedings | ||||||||||
Publisher: | Springer | ||||||||||
Date: | 2011 | ||||||||||
Series Name: | Lecture Notes in Artificial Intelligence, volume 7006, Subseries of Lecture Notes in Computer Science | ||||||||||
ISBN: | 978-3-642-24454-4 | ||||||||||
Page Range: | pp. 233-245 | ||||||||||
Number of Pages: | 13 | ||||||||||
Access rights: | Restricted access | ||||||||||
Additional Information: | AIRobots | ||||||||||
Date Deposited: | 18 Jun 2014 11:33 | ||||||||||
Last Modified: | 17 May 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.
Downloads
Downloads per month over past year
Actions (login required)
![]() |
View Item |