Replanning

1
Replanning

• A New Perspective
• William Cushing and Subbarao Kambhampati
• Arizona State University

2
200 pm Meet with Romeo
Flagstaff
Phoenix
LA
Flagstaff
Phoenix
LA
Cant miss this meeting! Ill go back for the
car later
Cancelled! Thats inconvenient!
Phoenix
LA
Flagstaff
Phoenix
LA
Flagstaff
I wont fall into that trap again!
Wheres Romeo?
Phoenix
LA
Flagstaff
3
Concepts

• Failures
• Reliability/Robustness/Defensibility
• Alter/Delete/(add?)
• Current State
• Goal
• Transitions
• Surprises?/Defenses?/Threats?/Safeguards?
• Reservations/Bookings
• ? (exo-event, cost-modification, utilization
  req.)
• Commitments
• Decide gt (Publish, negotiate, agree) gt New goals

4
Actions
World
Observations

• Robot-motion (insignificant)
• P(ab)P(a)P(b)
• Automated assistant (helpful)
• Collaborators behavior (a)
• Support behavior (a)
• P(aa)P(a)
• Security/Military (harmful)
• Opponents behavior (a)
• Exploitable behavior (a)
• P(aa)P(a)