Opportunistic Planning for Increased Plan Utility

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This paper explores the execution of planned missions in situations
in which opportunities to achieve additional utility
can arise during execution. The missions are represented as
temporal planning problems, with hard goals and time constraints.
Opportunities are soft goals with high utility. The
probability distributions for the occurrences of these opportunities
are not known, but it is known that they are unlikely
so it is not worth trying to anticipate their occurrence prior to
plan execution. However, as they are high utility, it is worth
trying to address them dynamically when they are encountered,
as long as this can be done without sacrificing the
achievement of the hard goals of the problem. We formally
characterise the opportunistic planning problem, introduce a
novel approach to opportunistic planning and compare it to
an on-board replanning approach in an example domain involving
autonomous underwater vehicles.
Original languageEnglish
Title of host publicationProceedings of the 4th ICAPS Workshop on Planning and Robotics (PlanRob 2016)
Number of pages11
Publication statusPublished - 2016


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