Cooperative planning and plan execution in partially observable dynamic domains

Abstract

In this paper we focus on plan execution in highly dynamic environments. Our plan execution procedure is part of a high-level planning system which controls the actions of our RoboCup team "Mostly Harmless". The used knowledge representation scheme is based on traditional STRIPS planning and qualitative reasoning principles. In contrast to other plan execution algorithms we introduce the concept of plan invariants which have to be fulfilled during the whole plan execution cycle. Plan invariants aid robots in detecting problems as early as possible. Moreover, we demonstrate how the approach can be used to achieve cooperative behavior. © Springer-Verlag Berlin Heidelberg 2005.