Structured plan and its execution for extended goals

摘要

In many real world planning domains, some observation information is optional and useless to the execution of a plan, and the information acquisition may require some kind of cost. So it is significant to propose a framework for planning with extended goals under partial observability, which can adapt to the idea of observation reduction. In this paper, a method was proposed to solve the problem. The definition of structured plans was given, which can encode sequential, conditional and iterative behaviors, and are expressive enough for dealing with incomplete observation information and with extended goals. In order to express extended goals over sub-plans and observation information, the interpretation of basic propositions in K-CTL and EAGLE (two important languages for expressing temporal requirements in nondeterministic domains) was extended.