Defining deviation sub-spaces for the A*W robust planning algorithm

Abstract

The paper presents further results from the development of the A*W hybrid planning algorithm aimed at determining robust plans for multiple entities co-existing in a common environment under uncertain conditions. The main focus is on strategies to determine deviation sub-spaces, i.e. the areas for which multi-variant plans are generated, as that selection determines the balance between computational efficiency and robustness. A general strategy is presented, followed by examples used to discuss the influence of the parameters on the behaviour of the algorithm. Guidelines for sub-space identification are provided, and further directions for research are outlined.