In this paper we describe COLIN, a forward-chaining heuristic search planner, capable of reasoning with COntinuous LINear numeric change, in addition to the full temporal semantics of PDDL. Through this work we make two advances to the state-of-the-art in terms of expressive reasoning capabilities of planners: the handling of continuous linear change, and the handling of duration-dependent effects in combination with duration inequalities, both of which require tightly coupled temporal and numeric reasoning during planning. COLIN combines FF-style forward chaining search, with the use of a Linear Program (LP) to check the consistency of the interacting temporal and numeric constraints at each state. The LP is used to compute bounds on the values of variables in each state, reducing the range of actions that need to be considered for application. In addition, we develop an extension of the Temporal Relaxed Planning Graph heuristic of CRIKEY3, to support reasoning directly with continuous change. We extend the range of task variables considered to be suitable candidates for specifying the gradient of the continuous numeric change effected by an action. Finally, we explore the potential for employing mixed integer programming as a tool for optimising the timestamps of the actions in the plan, once a solution has been found. To support this, we further contribute a selection of extended benchmark domains that include continuous numeric effects. We present results for COLIN that demonstrate its scalability on a range of benchmarks, and compare to existing state-of-the-art planners.

In this article we review the 2011 International Planning Competition. We give an overview of the history of the competition, discussing how it has developed since its first edition in 1998. The 2011 competition was run in three main separate tracks: the deterministic (classical) track; the learning track; and the uncertainty track. Each track proposed its own distinct set of new challenges and the participants rose to these admirably, the results of each track showing promising progress in each area. The competition attracted a record number of participants this year, showing its continued and strong position as a major central pillar of the international planning research community.

Generating optimal plans in highly dynamic environments is challenging. Plans are predicated on an assumed initial state, but this state can change unexpectedly during plan generation, potentially invalidating the planning effort. In this paper we make three contributions: (1) We propose a novel algorithm for generating optimal plans in settings where frequent, unexpected events interfere with planning. It is able to quickly distinguish relevant from irrelevant state changes, and to update the existing planning search tree if necessary. (2) We argue for a new criterion for evaluating plan adaptation techniques: the relative running time compared to the "size" of changes. This is significant since during recovery more changes may occur that need to be recovered from subsequently, and in order for this process of repeated recovery to terminate, recovery time has to converge. (3) We show empirically that our approach can converge and find optimal plans in environments that would ordinarily defy planning due to their high dynamics.

Heuristics used for solving hard real-time search problems have regions with depressions. Such regions are bounded areas of the search space in which the heuristic function is inaccurate compared to the actual cost to reach a solution. Early real-time search algorithms, like LRTA*, easily become trapped in those regions since the heuristic values of their states may need to be updated multiple times, which results in costly solutions. State-of-the-art real-time search algorithms, like LSS-LRTA* or LRTA*(k), improve LRTA*'s mechanism to update the heuristic, resulting in improved performance. Those algorithms, however, do not guide search towards avoiding depressed regions. This paper presents depression avoidance, a simple real-time search principle to guide search towards avoiding states that have been marked as part of a heuristic depression. We propose two ways in which depression avoidance can be implemented: mark-and-avoid and move-to-border. We implement these strategies on top of LSS-LRTA* and RTAA*, producing 4 new real-time heuristic search algorithms: aLSS-LRTA*, daLSS-LRTA*, aRTAA*, and daRTAA*. When the objective is to find a single solution by running the real-time search algorithm once, we show that daLSS-LRTA* and daRTAA* outperform their predecessors sometimes by one order of magnitude. Of the four new algorithms, daRTAA* produces the best solutions given a fixed deadline on the average time allowed per planning episode. We prove all our algorithms have good theoretical properties: in finite search spaces, they find a solution if one exists, and converge to an optimal after a number of trials.

Many real world problems can be defined as optimisation problems in which the aim is to maximise an objective function. The quality of obtained solution is directly linked to the pertinence of the used objective function. However, designing such function, which has to translate the user needs, is usually fastidious. In this paper, a method to help user objective functions designing is proposed. Our approach, which is highly interactive, is based on man machine dialogue and more particularly on the comparison of problem instance solutions by the user. We propose an experiment in the domain of cartographic generalisation that shows promising results.

Both humans and artificial systems frequently use trial and error methods to problem solving. In order to be effective, this type of strategy implies having high quality control knowledge to guide the quest for the optimal solution. Unfortunately, this control knowledge is rarely perfect. Moreover, in artificial systems-as in humans-self-evaluation of one's own knowledge is often difficult. Yet, this self-evaluation can be very useful to manage knowledge and to determine when to revise it. The objective of our work is to propose an automated approach to evaluate the quality of control knowledge in artificial systems based on a specific trial and error strategy, namely the informed tree search strategy. Our revision approach consists in analysing the system's execution logs, and in using the belief theory to evaluate the global quality of the knowledge. We present a real-world industrial application in the form of an experiment using this approach in the domain of cartographic generalisation. Thus far, the results of using our approach have been encouraging.

Many real world problems can be expressed as optimisation problems. Solving this kind of problems means to find, among all possible solutions, the one that maximises an evaluation function. One approach to solve this kind of problem is to use an informed search strategy. The principle of this kind of strategy is to use problem-specific knowledge beyond the definition of the problem itself to find solutions more efficiently than with an uninformed strategy. This kind of strategy demands to define problem-specific knowledge (heuristics). The efficiency and the effectiveness of systems based on it directly depend on the used knowledge quality. Unfortunately, acquiring and maintaining such knowledge can be fastidious. The objective of the work presented in this paper is to propose an automatic knowledge revision approach for systems based on an informed tree search strategy. Our approach consists in analysing the system execution logs and revising knowledge based on these logs by modelling the revision problem as a knowledge space exploration problem. We present an experiment we carried out in an application domain where informed search strategies are often used: cartographic generalisation.

The solution of the biobjective IRP is rather challenging, even for metaheuristics. We are still lacking a profound understanding of appropriate solution representations and effective neighborhood structures. Clearly, both the delivery volumes and the routing aspects of the alternatives need to be reflected in an encoding, and must be modified when searching by means of local search. Our work contributes to the better understanding of such solution representations. On the basis of an experimental investigation, the advantages and drawbacks of two encodings are studied and compared.

The hyperclimbing hypothesis is a hypothetical explanation for adaptation in genetic algorithms with uniform crossover (UGAs). Hyperclimbing is an intuitive, general-purpose, non-local search heuristic applicable to discrete product spaces with rugged or stochastic cost functions. The strength of this heuristic lie in its insusceptibility to local optima when the cost function is deterministic, and its tolerance for noise when the cost function is stochastic. Hyperclimbing works by decimating a search space, i.e. by iteratively fixing the values of small numbers of variables. The hyperclimbing hypothesis holds that UGAs work by implementing efficient hyperclimbing. Proof of concept for this hypothesis comes from the use of a novel analytic technique involving the exploitation of algorithmic symmetry. We have also obtained experimental results that show that a simple tweak inspired by the hyperclimbing hypothesis dramatically improves the performance of a UGA on large, random instances of MAX-3SAT and the Sherrington Kirkpatrick Spin Glasses problem.

Symmetry is an important problem in many combinatorial problems. One way of dealing with symmetry is to add constraints that eliminate symmetric solutions. We survey recent results in this area, focusing especially on two common and useful cases: symmetry breaking constraints for row and column symmetry, and symmetry breaking constraints for eliminating value symmetry