Controlling Deliberation with the Success Probability in a Dynamic Environment

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  • YAMADA Seiji
    Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology

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  • 動的環境における成功確率を用いた熟考の制御
  • ドウテキ カンキョウ ニ オケル セイコウ カクリツ オ モチイタ ジュッコウ

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Abstract

<p>This paper describes a novel method SIP to interleave planning with execution in a dynamic environment. To determine the timing of interleaving them, we uses the success probability, SP, that it successfully executes a plan in an environment. SP is formally defined with likelihood that all operators in a plan are executable in an environment, and we develop a method to compute it inexpensively. An interleave planning system integrates reactivity with deliberation depending on dynamics of an environment. We require planning for intelligent behavior, and need to integrate reactivity with deliberation. Unfortunately, few solution have been proposed to this problem. Our approach gives a solution by interleaving planning with execution. We assign input probabilities to effects of actions and persistence of objects in an environment. Plans are transformed into Bayesian networks on which their SPs are computed in O(n) time: n is plan size. A system switches planning to execution when SP falls below an execution threshold. After the execution, a system observes an environment, and starts planning again.</p>

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