KCL-Planning
timed literals in replanning
Dear all,
Just before re-planning, in order to consider the ongoing actions, we update KB by inserting timed literals (the effects of ongoing actions) and generate problem pddl,
Problem is that we noticed that time gap exists between the time in the timed literal and real time, because it takes time for re-planning.
How could we handle this problem?
Please give me any tip. Thanks.
Kim Kyeong Seok.
Just before re-planning, in order to consider the ongoing actions, we update KB by inserting timed literals (the effects of ongoing actions) and generate problem pddl,
This is a nice approach, and that is a very excellent question.
The issue taking planning time into account during the generation of the plan is something that we have encountered as well. In particular, that the plan does not really begin at time 0. In recent work we've had some success in creating a time-sensitive planner: Temporal Planning while the Clock Ticks https://kclpure.kcl.ac.uk/portal/files/91289499/ClockTicks.pdf
Unfortunately the source code for this planner is not yet available.
The solution that we have used for TILs in the past is to limit planning time using a timeout command (we could use 10 seconds) and to insert the timed-initial-literals with time T-10.
Best regards, Michael
Through your paper mentioned, I realized that this is an important issue on online planning. We are in the early state of our system, and your suggestion would be good enough to take.
We stay tuned to your research on this work.
Thank you!
Kim Kyeong Seok.