Automated plan synthesizer and plan execution method

Details Automated plan synthesizer and plan execution method Automated plan synthesizer and plan execution method

1992-12-01

1995-02-21

MacDonald, Allen R.

395 81, 395 82, 395 85, G06F 1518

Patent

active

053923820

ABSTRACT:
A reactive planning system automatically generates a universal plan for achieving specified goals. The universal plan is derived from a set of primitive and deductive rules governing operation of one or more actuators, and the specified goals. The universal plan contains tree structure defining predicates, actions and subplans for achieving the specified goals, and subgoals of those goals. Also included in the universal plan generated by the system are a set of confinement rules which determine the proper order for achieving unmet goals. During operation of the system, after the universal plan has been formulated, a plan interpreter or executer determines the subgoals that have yet to be met, and then selects one or more subgoals as being the appropriate ones to be worked on at the current time. More particularly, to select a goal or subgoal for processing, the plan executer first determines the set of goals that are currently achievable, which is the set of goals for which all preconditions and subgoals have been met. Then all the confinement rules in the universal plan are scanned to determine which of those rules are applicable to the goals that are currently achievable. Application of the confinement rules evaluates all interactions between subplans and determines what goals are protectable and thus can be achieved without causing a conflict between subplans.

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