Dynamic Repairing A*: a Plan-Repairing Algorithm for Dynamic Domains

Filippos Gouidis, Theodore Patkos, Giorgos Flouris, Dimitris Plexousakis

Abstract

Re-planning is a special case of planning which arises when already produced plans become invalidated before their completion. In this work we investigate the conditions under which plan repairing is more efficient than re-planning from scratch. We present a new plan-repairing algorithm, Dynamic Repairing A* (DRA*) and we compare its performance against A* in a number of different re-planning scenarios. The experimental results indicate that if the percentage of the plan that has been already executed is less than 40% to 50% and the changes in the environment are small or moderate, DRA* outperforms A* in terms of speed by a factor of 10% to 80% in the majority of the cases.

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Paper Citation


in Harvard Style

Gouidis F., Patkos T., Flouris G. and Plexousakis D. (2018). Dynamic Repairing A*: a Plan-Repairing Algorithm for Dynamic Domains.In Proceedings of the 10th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-275-2, pages 363-370. DOI: 10.5220/0006560803630370


in Bibtex Style

@conference{icaart18,
author={Filippos Gouidis and Theodore Patkos and Giorgos Flouris and Dimitris Plexousakis},
title={Dynamic Repairing A*: a Plan-Repairing Algorithm for Dynamic Domains},
booktitle={Proceedings of the 10th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2018},
pages={363-370},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006560803630370},
isbn={978-989-758-275-2},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Dynamic Repairing A*: a Plan-Repairing Algorithm for Dynamic Domains
SN - 978-989-758-275-2
AU - Gouidis F.
AU - Patkos T.
AU - Flouris G.
AU - Plexousakis D.
PY - 2018
SP - 363
EP - 370
DO - 10.5220/0006560803630370