Planification en temps r\'eel avec agenda de buts et sauts

TL;DR

This paper introduces agenda-driven goal ranking and committed jumps to improve real-time planning efficiency, resulting in faster planning and shorter solutions in classical planning problems.

Contribution

It presents a novel real-time planning algorithm integrating agenda-driven goal selection and committed jumps, demonstrating significant performance improvements.

Findings

Agenda-driven planning and committed jumps greatly enhance speed.

Combined use leads to several orders of magnitude faster planning.

Results show shorter solution plans in classical problems.

Abstract

In the context of real-time planning, this paper investigates the contributions of two enhancements for selecting actions. First, the agenda-driven planning enhancement ranks relevant atomic goals and solves them incrementally in a best-first manner. Second, the committed jump enhancement commits a sequence of actions to be executed at the following time steps. To assess these two enhancements, we developed a real-time planning algorithm in which action selection can be driven by a goal-agenda, and committed jumps can be done. Experimental results, performed on classical planning problems, show that agenda-planning and committed jumps are clear advantages in the real-time context. Used simultaneously, they enable the planner to be several orders of magnitude faster and solution plans to be shorter.