A replanning algorithm for a reactive agent architecture

Abstract

We present an algorithm for replanning in a reactive agent architecture which incorporates decision-theoretic notions to drive the planning and meta-deliberation process. The deliberation component relies on a refinement planner which produces plans with optimal expected utility. The replanning algorithm we propose exploits the planner's ability to provide an approximate evaluation of partial plans: it starts from a fully refined plan and makes it more partial until it finds a more partial plan which subsumes more promising refinements; at that point, the planning process is restarted from the current partial plan. © 2002 Springer-Verlag Berlin Heidelberg.