Reshaping Diverse Planning: Let There Be Light!Download PDF

Anonymous

18 Mar 2019 (modified: 05 May 2023)ICAPS 2019 Workshop HSDIP Blind SubmissionReaders: Everyone
Keywords: Diverse Planning, planning task reformulation
Abstract: The need for multiple plans to a planning problem has been established by various applications. In some, solution quality has the predominant role, while in others diversity is the key factor. Most recent work takes both plan quality and solution diversity into account under the generic umbrella of diverse planning. There is no common agreement, however, on a collection of computational problems that fall under that generic umbrella. This in particular might lead to a comparison between planners that have different solution guarantees or optimization criteria in mind. In this work we revisit diverse planning literature in search of such a collection of computational problems, classifying the existing planners to these problems. We formally define a variety of computational problems with respect to both plan quality and solution diversity, extending the existing work. We propose a novel approach to diverse planning, exploiting existing classical planners via planning task reformulation and choosing a subset of plans of required size in post-processing. Based on that, we present planners for two computational problems, that most existing planners solve. Our experiments show that the proposed approach significantly improves over the best performing existing planners in terms of coverage, the overall solution quality, and the overall diversity according to various diversity metrics.
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