Spatial tessellations: concepts and applications of Voronoi diagrams
Spatial tessellations: concepts and applications of Voronoi diagrams
Plan reuse versus plan generation: a theoretical and empirical analysis
Artificial Intelligence - Special volume on planning and scheduling
Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Generating qualitatively different plans through metatheoretic biases
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
An efficiently computable metric for comparing polygonal shapes
SODA '90 Proceedings of the first annual ACM-SIAM symposium on Discrete algorithms
ICCBR '95 Proceedings of the First International Conference on Case-Based Reasoning Research and Development
Eighteenth national conference on Artificial intelligence
Searching for an alternative plan
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Multi-robot plan adaptation by constrained minimal distortion feature mapping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Police patrol routing on network voronoi diagram
Proceedings of the 8th International Conference on Ubiquitous Information Management and Communication
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Consider the situation where an intelligent agent accepts as input a complete plan, i.e., a sequence of states (or operators) that should be followed in order to achieve a goal. For some reason, the given plan cannot be implemented by the agent, who then goes about trying to find an alternative plan that is as close as possible to the original. To achieve this, a search algorithm that will find similar alternative plans is required, as well as some sort of comparison function that will determine which alternative plan is closest to the original. In this paper, we define a number of distance metrics between plans, and characterize these functions and their respective attributes and advantages. We then develop a general algorithm based on best-first search that helps an agent efficiently find the most suitable alternative plan. We also propose a number of heuristics for the cost function of this best-first search algorithm. To explore the generality of our idea, we provide three different problem domains where our approach is applicable: physical roadmap path finding, the blocks world, and task scheduling. Experimental results on these various domains support the efficiency of our algorithm for finding close alternative plans.