Behaviour Planning: A Toolkit for Diverse Planning

TL;DR

This paper introduces Behaviour Planning, a toolkit for diverse planning that uses an n-dimensional grid to model diversity, enabling more expressive and explainable plan generation across various planning categories.

Contribution

It presents a novel diversity modelling approach with a customizable toolkit, supporting multiple planning categories beyond classical planning.

Findings

Outperforms existing methods in generating diverse plans

Supports planning categories like over-subscription and numerical planning

Uses planning-as-satisfiability for implementation

Abstract

Diverse planning approaches are utilised in real-world applications like risk management, automated streamed data analysis, and malware detection. The current diverse planning formulations encode the diversity model as a distance function, which is computational inexpensive when comparing two plans. However, such modelling approach limits what can be encoded as measure of diversity, as well as the ability to explain why two plans are different. This paper introduces a novel approach to the diverse planning problem, allowing for more expressive modelling of diversity using a n-dimensional grid representation, where each dimension corresponds to a user-defined feature. Furthermore, we present a novel toolkit that generates diverse plans based on such customisable diversity models, called \emph{Behaviour Planning}. We provide an implementation for behaviour planning using planning-as-satisfiability. An empirical evaluation of our implementation shows that behaviour planning significantly outperforms the current diverse planning method in generating diverse plans measured on our new customisable diversity models. Our implementation is the first diverse planning approach to support planning categories beyond classical planning, such as over-subscription and numerical planning.