Planning Find: program of actions that achieves the objective partially-ordered set goals Paradigms Classical planning (STRIPS, operator-based, first-principles “ generative HTN planning ractical"planning MDP POMDP planning planning under uncertainty
Planning Find: program of actions that achieves the objective partially-ordered set goals Paradigms Classical planning (STRIPS, operator-based, first-principles) “generative” HTN planning “practical” planning MDP & POMDP planning planning under uncertainty
The classical Representation Inits Operators Goals Simple Spacecraft Problem Observation-1 pointing target instruments observation -2 calibrated bservation -3 Observation-4 Image courtesy of JPL
The Classical Representation Operators: Goals: Goal1 Goal2 Goal3 Op pre1 pre2 pre3 eff1 eff2 Inits: P1 P2 P3 P4 Simple Spacecraft Problem Observation-1 target instruments Observation-2 Observation-3 Observation-4 … calibrated pointing Image courtesy of JPL
Example Actions Goal c POCL Planning (SNLP, UCPOP Select an open condition °xmF 2. Choose an op that can achieve it Link to an existing instance Add a new instance pc-c卜c 3. Resolve threats dIm HaF c
Example I Im x c px pC Init Actions C c Ty ¬px py px IA Goal pC POCL Planning (SNLP, UCPOP) 1. Select an open condition 2. Choose an op that can achieve it Link to an existing instance Add a new instance 3. Resolve threats IA F Im c pA IA F pC C Im IA F c pA pC C Im IA F c pA S TA ¬pC pC C Im IA F c pA S pC TA ¬pC pC C Im IA F c pA S pC
Outline Operational Planning for the mars exploration rovers Review of Least Commitment Planning Constraint-based Interval Planning Temporal Constraint Networks Model-based Program Execution as Graph-based Temporal Planning Based on slides by Dave Smith, NASA Ames An Autonomous Science Explorer Observation-1 priorit time window target instruments duratio observation -2 Observation -3 Image courtesy of JPL Observation -4 Objective: maximize science return Based on slides by Dave Smith, NASA Ames
Based on slides by Dave Smith, NASA Ames Outline • Operational Planning for the Mars Exploration Rovers • Review of Least Commitment Planning • Constraint-based Interval Planning • Temporal Constraint Networks • Model-based Program Execution as Graph-based Temporal Planning Based on slides by Dave Smith, NASA Ames An Autonomous Science Explorer Observation-1 priority time window target instruments duration Observation-2 Observation-3 Observation-4 … Objective: maximize science return Image courtesy of JPL