Required concurrency [3] can cause actions to interfere with running continuous effects. This interference can modify the rate of change, including the polarity, of a continuous effect. In this work, we propose a mechanism to support discrete interference of rates of change caused by instantaneous actions, the start and end endpoints of other durative actions, and numeric timed initial fluents [9]. Current temporal planners have very limited support for such numeric dynamics. COLIN [2] reduces a temporal numeric planning problem to a linear program (LP), but operates on an implicit assumption that the rate of change of a durative action's continuous effect is constant throughout its execution. In this work we propose some enhancements to the algorithms used in COLIN [2], in order to support discrete interference of continuous effects, and a new planner, DICE, was developed to implement them.
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机译：必需的并发[3]可能会导致动作干扰运行连续效果。 这种干扰可以修改连续效果的变化率，包括极性。 在这项工作中，我们提出了一种机制，支持由瞬时行动，其他持续动作的开始和结束终点和数字定时初始流利引起的变化率的离散干扰[9]。 当前的时间规划仪对此类数字动态的支持非常有限。 COLIN [2]将时间数值规划问题减少到线性程序（LP），但在隐式假设上运行，即持续动作的连续效果的变化率在整个执行过程中是恒定的。 在这项工作中，我们向Colin [2]中使用的算法提出了一些增强，以支持连续效应的离散干扰，并且开发了一个新的策划者骰子以实现它们。
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