Abstract
The paper presents further results from the development of the A*W hybrid planning algorithm aimed at determining robust plans for multiple entities co-existing in a common environment under uncertain conditions. The main focus is on strategies to determine deviation sub-spaces, i.e. the areas for which multi-variant plans are generated, as that selection determines the balance between computational efficiency and robustness. A general strategy is presented, followed by examples used to discuss the influence of the parameters on the behaviour of the algorithm. Guidelines for sub-space identification are provided, and further directions for research are outlined.
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A single glboal state consists of the states/positions of all entities.
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Wojnicki, I., Ernst, S. (2017). Defining Deviation Sub-spaces for the A*W Robust Planning Algorithm. In: Nguyen, N., Tojo, S., Nguyen, L., Trawiński, B. (eds) Intelligent Information and Database Systems. ACIIDS 2017. Lecture Notes in Computer Science(), vol 10191. Springer, Cham. https://doi.org/10.1007/978-3-319-54472-4_37
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DOI: https://doi.org/10.1007/978-3-319-54472-4_37
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