Dynamic Environments
PROBLEM: The world doesn’t sit still. Blind execution of a “correct” plan may not reach goals
APPROACHES:
- PLAN/MONITOR/REPLAN: Monitor the execution; when the observed state differs from the expected one, REPLAN
- Replanning is like reuse except there is added incentive for minimal modification
- Easy to support with conjunctive plan-space planners
- PRIAR [Kambhampati; 92]; DerSNLP [Ihrig & Kambhampati, 97]
- Possible to support with disjunctive causal encodings
- MONITOR/REACT/LEARN:
- Policy construction (Universal plans)…
- MODEL OTHER AGENTS CAUSING CHANGE:
- Collaborative/Distributed planning