Planning the Behavior of Dynamical Systems

Nicola Muscettola
tech. report CMU-RI-TR-90-10, Robotics Institute, Carnegie Mellon University, April, 1990


Download
  • Adobe portable document format (pdf) (592KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Two important factors hinder our ability to address large planning problems. On one hand, our understanding of planning is not independent from specific planning frameworks. On the other hand, current planning frameworks lack modularity, a. key factor for "divide and conquer" approaches to large problems. This paper addresses the formal definition of planning, points out some limitations of the current planning frameworks, and describes a new planning framework that overcomes these limitations. Our formal definition relies on the hypothesis that the problem solver's model of the world is a dynamical system. On this basis, we can clearly separate the knowledge about how the world works from the heuristic knowledge needed to solve problems quickly. Our definition is also independent from any particular planning representation framework. Our analysis of modularity indicates which features can support it in a planning framework. We describe how these features are implemented in the HSTS planning framework, a general purpose facility integrated in the HSTS scheduling architecture. Its effectiveness to address complex "real world" domains has been successfully demonstrated on the problem of building executable observation schedules for the Hubble Space Telescope.

Notes
Grant ID: #F33615-86-C-5-38
Associated Center(s) / Consortia: Center for Integrated Manfacturing Decision Systems
Associated Lab(s) / Group(s): Intelligent Coordination and Logistics Laboratory
Associated Project(s): HSTS Space Observatory Scheduler

Text Reference
Nicola Muscettola, "Planning the Behavior of Dynamical Systems," tech. report CMU-RI-TR-90-10, Robotics Institute, Carnegie Mellon University, April, 1990

BibTeX Reference
@techreport{Muscettola_1990_222,
   author = "Nicola Muscettola",
   title = "Planning the Behavior of Dynamical Systems",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "1990",
   number= "CMU-RI-TR-90-10",
   address= "Pittsburgh, PA",
}