Dynagent: an incremental forward-chaining HTN planning agent in dynamic domains

Authors:
Hisashi Hayashi;Seiji Tokura;Tetsuo Hasegawa;Fumio Ozaki
Affiliations:
Knowledge Media Laboratory, R&D Center, Toshiba Corporation, Kawasaki, Japan;Humancentric Laboratory, R&D Center, Toshiba Corporation, Kawasaki, Japan;Knowledge Media Laboratory, R&D Center, Toshiba Corporation, Kawasaki, Japan;Humancentric Laboratory, R&D Center, Toshiba Corporation, Kawasaki, Japan
Venue:
DALT'05 Proceedings of the Third international conference on Declarative Agent Languages and Technologies
Year:
2005

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Abstract

HTN planning, especially forward-chaining HTN planning, is becoming important in the areas of agents and robotics, which have to deal with the dynamically changing world. Therefore, replanning in “forward-chaining” HTN planning has become an important subject for future study. This paper presents the new agent algorithm that integrates forward-chaining HTN planning, execution, belief updates, and plan modifications. Also, through combination with an A*-like heuristic search strategy, we show that our agent algorithm is effective for the replanning problem of museum tour guide robots, which is similar to the replanning problem of a traveling salesman.