Abstract
Dealing with temporality on actions presents an important challenge to AI planning. Unlike Graphplan-based planners which alternate levels of propositions and actions in a regular way, introducing temporality on actions unbalance this symmetry. This paper presents TPSYS, a Temporal Planning SYStem, which arises as an attempt to combine the ideas of Graphplan and TGP to solve temporal planning problems more efficiently. TPSYS is based on a three-stage process. The first stage, a preprocessing stage, facilitates the management of constraints on duration of actions. The second stage expands a temporal graph and obtains the set of temporal levels at which propositions and actions appear. The third stage, the plan extraction, obtains the plan of minimal duration by finding a flow of actions through the temporal graph. The experiments show the utility of our system for dealing with temporal planning problems.
This work has been partially supported by the Project n. 20010017 - Navigation of Autonomous Mobile Robots of the Universidad Politécnica de Valencia.
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Garrido, A., Onaindía, E., Barber, F. (2001). A Temporal Planning System for Time-Optimal Planning. In: Brazdil, P., Jorge, A. (eds) Progress in Artificial Intelligence. EPIA 2001. Lecture Notes in Computer Science(), vol 2258. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45329-6_37
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DOI: https://doi.org/10.1007/3-540-45329-6_37
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