Emergency HTN Planning

摘要

Integration of deliberation and reaction has been an important research topic concerning agents in view of the need for an agent to react tentatively and immediately to the changing world when unexpected events occur while executing a plan. An agent is not supposed to think for a long time before reacting. Also, its reaction is not supposed to change the world greatly. However, there are some cases where deliberation is necessary for achieving an emergency goal or where the emergency plan execution prevents the resumption of the suspended plan execution. This chapter presents a new concept of on-line interruption planning that integrates deliberation and emergency deliberation. When an emergency goal is given while executing a plan, our agents suspend the current plan execution, make and execute an emergency plan, and resume the suspended plan execution. Because our agents continuously modify the suspended plans while executing an emergency plan, they can resume the suspended plans correctly and efficiently even if the world has changed greatly due to the emergency plan execution.