Methods and apparatus for heuristic search to optimize metrics in generating a plan having a series of actions
First Claim
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1. A method of generating a plan for a planner including tightening bounds on a metric cost of the plan, comprising:
- tagging a fact with a compressed representation of relaxed states that can make the fact true;
generating, using a computer, the compressed representation as a range of possible values that a numeric variable for the relaxed states can possibly take on when the fact is true, where the range of the numeric variable includes a set of disjoint ranges;
computing a new range of values for the numeric variables as a combination of ranges of values tagged on each precondition of an action modified by effects of the action; and
outputting the plan in a format to enable display for a user to make decisions for reaching a plan goal.
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Abstract
Methods and apparatus to provide techniques for planners that records constraints over a set of numeric state variables for each fact and characterizes the set of states in which that fact is true to provide more information to reason about mutual exclusions among sets of states offering a tighter bound on the metric cost of a plan than existing planners currently attain. This more accurate estimate can avoid irrelevant states and decrease search times.
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Citations
17 Claims
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1. A method of generating a plan for a planner including tightening bounds on a metric cost of the plan, comprising:
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tagging a fact with a compressed representation of relaxed states that can make the fact true; generating, using a computer, the compressed representation as a range of possible values that a numeric variable for the relaxed states can possibly take on when the fact is true, where the range of the numeric variable includes a set of disjoint ranges; computing a new range of values for the numeric variables as a combination of ranges of values tagged on each precondition of an action modified by effects of the action; and outputting the plan in a format to enable display for a user to make decisions for reaching a plan goal. - View Dependent Claims (2, 3, 4)
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5. A computer-implemented method of generating a plan, comprising:
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associating with each fact in each state a compressed representation of all of the relaxed states that can make the each fact true, wherein the compressed representation is a range of possible values that each numeric variable can possibly take on when the fact is true; and outputting the plan in a format to enable display for a user to make decisions for reaching a plan goal. - View Dependent Claims (6, 7, 8, 9, 10)
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11. A method of generating a plan for a planner that can produce tighter bounds on a metric cost of the plan, comprising:
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for a first state, tagging a first fact with a first enabling action; for a second state, tagging a second fact with a second enabling action; for a third state, tagging the first and second facts with a joint action to generate a choice of actions to achieve planning goals; computing, using a computer, a constrained metric from a range of numeric fluents associated with the first and second facts that represents the lowest cost way to achieve each precondition of an action, and can be used to select a first one of the choice of actions; and
outputting the plan in a format to enable display for a user to make decisions for reaching a plan goal. - View Dependent Claims (12, 13, 14, 15)
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16. A system for generating a plan, comprising:
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a first means for tagging facts with enabling actions; and a second means for computing a metric to tighten bounds on a metric cost of the plan. - View Dependent Claims (17)
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Specification