ONLINE CONTINUAL AUTOMATED PLANNING FRAMEWORK BASED ON TIMELINES
First Claim
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1. An online planning method comprising:
- representing variables in an environment for which a plan is being developed in the form of a sequence of actions and the corresponding timelines representing the plan'"'"'s effects on the world state;
continually maintaining the timelines that capture how different ones of the variables change their values over time; and
building and maintaining consistent plans by adding tokens to affected timelines, wherein each token represents different types of cosnstraints and effects actions affecting the variable represented by that timeline.
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Abstract
An online planning system and method represents variables in an environment for which a plan is being developed in the form of timelines. The timelines are continually maintained by capturing how different ones of the variables change their values over time. The plan being a consistent plan built and maintained by adding tokens to affected timelines, wherein each token represents different types of actions affecting the variable represented by that timeline.
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Citations
19 Claims
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1. An online planning method comprising:
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representing variables in an environment for which a plan is being developed in the form of a sequence of actions and the corresponding timelines representing the plan'"'"'s effects on the world state; continually maintaining the timelines that capture how different ones of the variables change their values over time; and building and maintaining consistent plans by adding tokens to affected timelines, wherein each token represents different types of cosnstraints and effects actions affecting the variable represented by that timeline. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A timeline-based continual on-line planning and scheduling method for determination of a sequence of actions that when executed from a known initial state achieves all pre-defined goals, the method being performed by a planner residing within a computer control system having a memory storage, the method comprising:
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building and maintains a consistent valid plan by adding tokens to affected timelines, wherein; the plan is defined by a sequence of actions; each timeline represents a variable; each variable has a value that changes over time; each timeline comprises the current value of the variable and a set of tokens, each token representing an condition or effect of an action affecting the variable and the adding of tokens to timelines due to actions in the plan that affect the value of the variable. - View Dependent Claims (11, 12, 13, 14, 15)
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16. An apparatus comprising:
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a digital processing device configured to perform a timeline-based continual on-line planning and scheduling method for determination of a sequence of actions that when executed from a known initial state achieves all pre-defined goals, wherein the method is performed by a planner residing within a computer control system having a memory storage, wherein the planner builds and maintains a consistent valid plan by adding tokens to affected timelines, wherein; the plan is defined by a sequence of actions; each timeline represents a variable; each variable has state that change over time; each timeline comprises the current value of the variable and a set of tokens; wherein a token represents an action affecting the variable and tokens are added to timelines due to actions in the plan that affect he value of the variable; each token has an earliest time point and a latest time point that the action can occur; and the planner takes as an input a goal set and a consistent set of timelines representing all operations occurring after the current wall-clock time that affect any state variables. - View Dependent Claims (17, 18, 19)
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Specification