Engineering topics

Ramakrishnan, Sailesh

Publications and source records attributed to Ramakrishnan, Sailesh.

4 records

NASA NTRS2004

Strategies for Global Optimization of Temporal Preferences

A temporal reasoning problem can often be naturally characterized as a collection of constraints with associated local preferences for times that make up the admissible values for those constraints. Globally preferred solutions to such problems emerge as a result of well-defined operations that compose and order temporal assignments. The overall objective of this work is a characterization of different notions of global preference, and to identify tractable sub-classes of temporal reasoning problems incorporating these notions. This paper extends previous results by refining the class of useful notions of global temporal preference that are associated with problems that admit of tractable solution techniques. This paper also answers the hitherto open question of whether problems that seek solutions that are globally preferred from a Utilitarian criterion for global preference can be found tractably.

Morris, Paul↗

NASA NTRS2003

Incremental Contingency Planning

There has been considerable work in AI on planning under uncertainty. However, this work generally assumes an extremely simple model of action that does not consider continuous time and resources. These assumptions are not reasonable for a Mars rover, which must cope with uncertainty about the duration of tasks, the energy required, the data storage necessary, and its current position and orientation. In this paper, we outline an approach to generating contingency plans when the sources of uncertainty involve continuous quantities such as time and resources. The approach involves first constructing a "seed" plan, and then incrementally adding contingent branches to this plan in order to improve utility. The challenge is to figure out the best places to insert contingency branches. This requires an estimate of how much utility could be gained by building a contingent branch at any given place in the seed plan. Computing this utility exactly is intractable, but we outline an approximation method that back propagates utility distributions through a graph structure similar to that of a plan graph.

Dearden, Richard↗

NASA NTRS2003

Formalizing Resources for Planning

In this paper we present a classification scheme which circumscribes a large class of resources found in the real world. Building on the work of others we also define key properties of resources that allow formal expression of the proposed classification. Furthermore, operations that change the state of a resource are formalized. Together, properties and operations go a long way in formalizing the representation and reasoning aspects of resources for planning.

Bedrax-Weiss, Tania↗

NASA NTRS2002

Contingency Planning for Planetary Rovers

There has been considerable work in AI on planning under uncertainty. But this work generally assumes an extremely simple model of action that does not consider continuous time and resources. These assumptions are not reasonable for a Mars rover, which must cope with uncertainty about the duration of tasks, the power required, the data storage necessary, along with its position and orientation. In this paper, we outline an approach to generating contingency plans when the sources of uncertainty involve continuous quantities such as time and resources. The approach involves first constructing a "seed" plan, and then incrementally adding contingent branches to this plan in order to improve utility. The challenge is to figure out the best places to insert contingency branches. This requires an estimate of how much utility could be gained by building a contingent branch at any given place in the seed plan. Computing this utility exactly is intractable, but we outline an approximation method that back propagates utility distributions through a graph structure similar to that of a plan graph.

Dearden, Richard↗