Planning,monitoring and replanning techniques for handling abnormity in HTN-based planning and execution

作     者：KANG Kai CHENG Kai SHAO Tianhao ZHANG Hongjun ZHANG Ke 

作者机构：Command and Control Engineering CollegeArmy Engineering University of PLANanjing 210000China The 63rd Research Institute of National University of Defense TechnologyNanjing 210000China 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2024年第35卷第5期

页      面：1264-1275页

核心收录：

学科分类：08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China(61806221) 

主　　题：hierarchical task network Monte carlo tree search(MCTS) planning execution abnormity 

摘      要：A framework that integrates planning,monitoring and replanning techniques is *** can devise the best solution based on the current state according to specific objectives and properly deal with the influence of abnormity on the plan *** framework consists of three parts:the hierarchical task network(HTN)planner based on Monte Carlo tree search(MCTS),hybrid plan monitoring based on forward and backward and norm-based replanning method *** HTN planner based on MCTS selects the optimal method for HTN compound task through *** on specific objectives,it can identify the best solution to the current *** hybrid plan monitoring has the capability to detect the influence of abnormity on the effect of an executed action and the premise of an unexecuted action,thus trigger the *** norm-based replanning selection method can measure the difference between the expected state and the actual state,and then select the best replanning *** experimental results reveal that our method can effectively deal with the influence of abnormity on the implementation of the plan and achieve the target task in an optimal way.