Robust Plan Inference in the Keys and Doors Problem
Creating Robust Plans using Replanning
C.J. van der Knaap (TU Delft - Electrical Engineering, Mathematics and Computer Science)
R.J. Gardos Reid – Mentor (TU Delft - Algorithmics)
I.K. Hanou – Mentor (TU Delft - Algorithmics)
S. Dumancic – Mentor (TU Delft - Algorithmics)
N.M. Gürel – Graduation committee member (TU Delft - Pattern Recognition and Bioinformatics)
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Abstract
Planning is very important in everyday life, whether it would be creating schedules for planes or plans for manufacturing. These domains contain uncertainties requiring plans that are robust. However, there is a need for an approach which creates robust plans regardless of the domain and without changing its planning agent. Here, a replanning approach is proposed akin to the Metropolis-Hastings algorithm and its performance is compared to the performance of importance sampling. Replanning works by iteratively trying to improve the previously generated plan. The performance is compared by means of the Keys and Doors problem. It is found that replanning performed better than importance sampling in the two analysed problems. Furthermore, changing the parameter, σ, used in the replanning approach showed a significant difference in its corresponding performance. While the replanning approach has only been tested on the Keys and Doors problem, the results show that replanning is a promising approach which could work irrespective of the domain at hand.