Authors:
Enrico Scala
;
Roberto Micalizio
and
Pietro Torasso
Affiliation:
Universita' di Torino, Italy
Keyword(s):
Replanning, Plan Repair, Plan Execution, Space Exploration, Consumable Resources, CSP.
Related
Ontology
Subjects/Areas/Topics:
Agents
;
Artificial Intelligence
;
Constraint Satisfaction
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Planning and Scheduling
;
Simulation and Modeling
;
Symbolic Systems
;
Task Planning and Execution
Abstract:
Robust execution of exploration mission plans has to deal with limited computational power on-board a planetary rover, and with limited rover’s autonomy. In most cases, these limitations practically prevent the rover to synthesize a new mission plan when some unexpected contingency arises. The paper shows that when such deviations refers to anomalies on the consumption of resources, robust execution can be achieved efficiently through an action reconfiguration approach instead of a replanning from scratch. Building up on an extended
action model representation, the paper proposes an effective continual planner - ReCon - that, exploiting a general purpose CSP solver, is able to (i) detect violations of mission resource constraints, and (ii) find (if any) a new configuration of actions.