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Temporal Planning using Satifiability

Mahjoob, Ali | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43867 (19)
  4. University: Sharif University of Technology
  5. Department: Computer Engineering
  6. Advisor(s): Ghassem Sani, Gholamreza
  7. Abstract:
  8. Automated Planning is an active research area in Artificial Intelligence. In Classical planning, for simplicity, time is considered as the order of actions in plan. In temporal planning, due to the importance of time in real world problems, this simplifying assumption is not considered, and time is explicitly used in the planning process. Most of current methods for temporal planning are extensions of classical planning methods to include the explicit definition of time. Planning using Satisfiability is used as an efficient method to find optimal solutions for classical planning problems. In this dissertation, a temporal planner based on Satisfiability has been developed. This planner, as we named it, PLANET, can find optimal solutions for temporal planning. There are, in general, two models to describe temporal planning: Conservative and Non-Conservative. The latter, in which the problems with Required Concurrency are also considered, is a more general form of the former. PLANET can solve non-conservative temporal planning problems, too. In addition, in this dissertation, a new method is proposed to extend classical planning graph for temporal planning. The resulting temporal planning graph, is constructed in a simpler way than that of previous methods, and is also usable for non-conservative temporal planning. In order to improve the performance of PLANET, the so-called Mutex relations extracted from the graph are appended to the Satisfiability encoding. Also, a lower bound for the plan’s Makespan is estimated using the graph, and used as a starting point for the search process. The experimental results show that the performance of PLANET is comparable with that of non-optimal temporal planners
  9. Keywords:
  10. Temporal Planning ; Satisfiability-based Planning ; Temporal Planning Graph

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