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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Item Type: Book Section
Lingua: English
Title: TGA-based Controllers for Flexible Plan Execution
Creators:
CreatorsEmail
Orlandini, AndreaUNSPECIFIED
Finzi, AlbertoUNSPECIFIED
Cesta, AmedeoUNSPECIFIED
Fratini, SimoneUNSPECIFIED
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.

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