Using Abstraction in Planning and Scheduling

We present an algorithm for summarizing the metric resource requirements of an abstract task based on the resource usages of its potential refinements. We use this summary information within the ASPEN planner/scheduler to coordinate a team of rovers that conflict over shared resources. We find analytically and experimentally that an iterative repair planner can experience an exponential speedup when reasoning with summary information about resource usages and state constraints, but there are some cases where the extra overhead involved can degrade performance.