Information Technology Reference
In-Depth Information
Φ
→ s
l
∈ CL
of plan
P
γ
j
Φ
→ s
l
∀ s
k
,s
l
∈ P
γ
j
:(1)
∀
causal link
s
j
add new causal link
s
i
Φ
→
to
CL
of plan
P
γ
j
, (2) remove causal link
s
j
s
l
from CL of plan P
γ
j
, (3) remove
Φ
→ s
j
from CL of plan P
γ
j
.
causal link
s
k
5
Experimental Results
In order to quantify the practical performance gained by our approach, we conducted
a series of experiments with our planning framework. The experiments were run on a
machine with a 3 GHz CPU and 256 MB Heap memory for the Java VM. Note that
this machine has only one single processor unit. We ran our experiments on two well-
established planning domains. The
Satellite
domain is a benchmark for non-hierarchical
planning. It is inspired by the problem of managing scientific stellar observations by
earth-orbiting instrument platforms. Our encoding of this domain regards the original
primitive operators as implementations of abstract observation tasks, which results in
a domain model with 3 abstract and 5 primitive tasks, related by 8 methods. The
UM-
Translog
is a hierarchical planning domain that supports transportation and logistics.
We adopted its type and decomposition structure to our representation which yielded
a deep expansion hierarchy in 51 methods for decomposing 21 abstract tasks into 48
Ta b l e 1 .
Results for the
UM-Translog
domain
HMAP
PANDA
PLM
Problem
Dependent
Independent
Planning Time Planning Time Planning Time Merging Time
Total
Planning Time Merging Time Total
Translog-P1
180
104
115
0
115
113
0
113
Translog-P2
155
99
103
0
103
105
0
105
Translog-P3
1450
153
159
0
159
157
0
157
Translog-P4
772
621
630
0
630
625
0
625
Translog-P5
1184
639
358
179
537
512
0
512
Translog-P6
-
3437
476
956
1432
1794
964
2758
Translog-P7
-
-
1413
2397
3810
703
1967
2670
Translog-P8
-
-
4562
6094
10656
1587
6731
8318
Translog-P9
-
-
454
148
602
450
0
450
Translog-P10
1284
583
451
941
1392
627
878
1505
Translog-P11
-
3930
2954
2769
5723
750
2343
3093
Translog-P12
-
-
3335
5981
9316
1218
3622
4840
Translog-P13
-
-
4370
6327
10697
1463
7250
8713
Translog-P14
-
-
770
223
993
673
351
1024
Translog-P15
-
-
1705
1440
3145
2109
1345
3454
Translog-P16
-
-
547
418
965
4785
578
5363
Translog-P17
-
-
3366
5921
9287
1328
4364
5692
Translog-P18
3268
1287
1079
0
1079
698
392
1090
Translog-P19
-
4184
3417
1002
4419
489
835
1324
Translog-P20
-
-
3692
2015
5707
1123
1910
3033
Translog-P21
-
-
4007
3842
7849
1379
4808
6187
Translog-P22
-
-
4705
5841
10546
1777
6370
8147
Translog-P23
5238
1211
832
0
832
383
376
759
Translog-P24
-
10006
3227
1045
4272
537
833
1370
Translog-P25
-
-
3445
2614
6059
686
1939
2625
Translog-P26
-
-
3874
5637
9511
1040
5481
6521
Translog-P27
-
-
4739
6627
11366
1521
5904
7425
Translog-P28
-
2623
1047
0
1047
2045
753
2798
Translog-P29
-
-
6008
697
6705
5069
3471
8540
Translog-P30
-
-
3237
940
4177
540
1014
1554
