Introduction to algorithms
Artificial Intelligence - Special issue on knowledge representation
Shortest paths algorithms: theory and experimental evaluation
Mathematical Programming: Series A and B
Issues in temporal reasoning for autonomous control systems
AGENTS '98 Proceedings of the second international conference on Autonomous agents
An Autonomous Spacecraft Agent Prototype
Autonomous Robots - Special issue on autonomous agents
Automated Planning and Scheduling for Goal-Based Autonomous Spacecraft
IEEE Intelligent Systems
A Specification Framework for Real-Time Scheduling
SOFSEM '02 Proceedings of the 29th Conference on Current Trends in Theory and Practice of Informatics: Theory and Practice of Informatics
Generating Bids for Group-Related Actions in the Context of Prior Commitments
ATAL '01 Revised Papers from the 8th International Workshop on Intelligent Agents VIII
Algorithms for a temporal decoupling problem in multi-agent planning
Eighteenth national conference on Artificial intelligence
Distributing the control of a temporal network among multiple agents
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Model-based programming of fault-aware systems
AI Magazine
Robust execution of contingent, temporally flexible plans
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Exploiting spatial and temporal flexibility for plan execution of hybrid, under-actuated systems
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Exploiting the structure of hierarchical plans in temporal constraint propagation
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Managing temporal uncertainty through waypoint controllability
IJCAI'99 Proceedings of the 16th international joint conference on Artificial intelligence - Volume 2
Executing reactive, model-based programs through graph-based temporal planning
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
A structural characterization of temporal dynamic controllability
CP'06 Proceedings of the 12th international conference on Principles and Practice of Constraint Programming
Drake: an efficient executive for temporal plans with choice
Journal of Artificial Intelligence Research
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Temporal plans permit significant flexibility in specifying the occurrence time of events. Plan execution can make good use of that flexibility. However, the advantage of execution flexibility is counterbalanced by the cost during execution of propagating the time of occurrence of events throughout the flexible plan. To minimize execution latency, this propagation needs to be very efficient. Previous work showed that every temporal plan can be reformulated as a dispatchable plan, Le., one for which propagation to immediate neighbors is sufficient. A simple algorithm was given that finds a dispatchable plan with a minimum number of edges in cubic time and quadratic space. In this paper, we focus on the efficiency of the reformulation process, and improve on that result. A new algorithm is presented that uses linear space and has time complexity equivalent to Johnson's algorithm for all-pairs shortest-path problems. Experimental evidence confirms the practical effectiveness of the new algorithm. For example, on a large commercial application, the performance is improved by at least two orders of magnitude. We further show that the dispatchable plan, already minimal in the total number of edges, can also be made minimal in the maximum number of edges incoming or outgoing at any node.