Branching and pruning: An optimal temporal POCL planner based on constraint programming

A key feature of modern optimal planners such as graphplan and blackbox is their ability to prune large parts of the search space. Previous Partial Order Causal Link (POCL) planners provide an alternative branching scheme but lacking comparable pruning mechanisms do not perform as well. In this pape...

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Vydáno v:	Artificial intelligence Ročník 170; číslo 3; s. 298 - 335
Hlavní autoři:	Vidal, Vincent, Geffner, Héctor
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Amsterdam Elsevier B.V 01.03.2006 Elsevier
Témata:	Applied sciences Artificial Intelligence Computer Science Computer science; control theory; systems Constraint programming Exact sciences and technology Learning and adaptive systems Planning Temporal reasoning Temporal reasoning Constraint programming Planning Branching Partial ordering Constraint satisfaction Duration Causality Artificial intelligence Temporal constraint Temporal logic Constrained optimization
ISSN:	0004-3702, 1872-7921
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Abstract	A key feature of modern optimal planners such as graphplan and blackbox is their ability to prune large parts of the search space. Previous Partial Order Causal Link (POCL) planners provide an alternative branching scheme but lacking comparable pruning mechanisms do not perform as well. In this paper, a domain-independent formulation of temporal planning based on Constraint Programming is introduced that successfully combines a POCL branching scheme with powerful and sound pruning rules. The key novelty in the formulation is the ability to reason about supports, precedences, and causal links involving actions that are not in the plan. Experiments over a wide range of benchmarks show that the resulting optimal temporal planner is much faster than current ones and is competitive with the best parallel planners in the special case in which actions have all the same duration. 1 1 This paper extends [V. Vidal, H. Geffner, Branching and pruning: An optimal temporal POCL planner based on constraint programming, in: Proceedings of AAAI-2004, San Jose, CA, 2004, pp. 570–577] by removing the canonicity restriction in the generation of plans. This is a restriction that forces every (ground) action in the domain to be done at most once in the plan. See the text for details.
AbstractList	A key feature of modern optimal planners such as graphplan and blackbox is their ability to prune large parts of the search space. Previous Partial Order Causal Link (POCL) planners provide an alternative branching scheme but lacking comparable pruning mechanisms do not perform as well. In this paper, a domain-independent formulation of temporal planning based on Constraint Programming is introduced that successfully combines a POCL branching scheme with powerful and sound pruning rules. The key novelty in the formulation is the ability to reason about supports, precedences, and causal links involving actions that are not in the plan. Experiments over a wide range of benchmarks show that the resulting optimal temporal planner is much faster than current ones and is competitive with the best parallel planners in the special case in which actions have all the same duration. (Author abstract) A key feature of modern optimal planners such as graphplan and blackbox is their ability to prune large parts of the search space. Previous Partial Order Causal Link (POCL) planners provide an alternative branching scheme but lacking comparable pruning mechanisms do not perform as well. In this paper, a domain-independent formulation of temporal planning based on Constraint Programming is introduced that successfully combines a POCL branching scheme with powerful and sound pruning rules. The key novelty in the formulation is the ability to reason about supports, precedences, and causal links involving actions that are not in the plan. Experiments over a wide range of benchmarks show that the resulting optimal temporal planner is much faster than current ones and is competitive with the best parallel planners in the special case in which actions have all the same duration.1 H. Geffner is partially supported by Grant TIC2002-04470-C03-02, MCyT, Spain. A key feature of modern optimal planners such as graphplan and blackbox is their ability to prune large parts of the search space. Previous Partial Order Causal Link (POCL) planners provide an alternative branching scheme but lacking comparable pruning mechanisms do not perform as well. In this paper, a domain-independent formulation of temporal planning based on Constraint Programming is introduced that successfully combines a POCL branching scheme with powerful and sound pruning rules. The key novelty in the formulation is the ability to reason about supports, precedences, and causal links involving actions that are not in the plan. Experiments over a wide range of benchmarks show that the resulting optimal temporal planner is much faster than current ones and is competitive with the best parallel planners in the special case in which actions have all the same duration. 1 1 This paper extends [V. Vidal, H. Geffner, Branching and pruning: An optimal temporal POCL planner based on constraint programming, in: Proceedings of AAAI-2004, San Jose, CA, 2004, pp. 570–577] by removing the canonicity restriction in the generation of plans. This is a restriction that forces every (ground) action in the domain to be done at most once in the plan. See the text for details.
Author	Vidal, Vincent Geffner, Héctor
Author_xml	– sequence: 1 givenname: Vincent surname: Vidal fullname: Vidal, Vincent email: vidal@cril.univ-artois.fr organization: CRIL – Université d'Artois, rue de l'université – SP16, 62307 Lens Cedex, France – sequence: 2 givenname: Héctor surname: Geffner fullname: Geffner, Héctor email: hector.geffner@upf.edu organization: ICREA – Universitat Pompeu Fabra, Paseo de Circunvalacion 8, 08003 Barcelona, Spain
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Snippet	A key feature of modern optimal planners such as graphplan and blackbox is their ability to prune large parts of the search space. Previous Partial Order... A key feature of modern optimal planners such as graphplan and blackbox is their ability to prune large parts of the search space. Previous Partial Order...
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SubjectTerms	Applied sciences Artificial Intelligence Computer Science Computer science; control theory; systems Constraint programming Exact sciences and technology Learning and adaptive systems Planning Temporal reasoning
Title	Branching and pruning: An optimal temporal POCL planner based on constraint programming
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