On-Line Case-Based Policy Learning for Automated Planning in Probabilistic Environments

Moisés Martínez, Javier García and Fernando Fernández
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Moisés Martínez: Faculty of Natural and Mathematical Sciences, King’s College of London, Strand Campus, Bush House, 30 Aldwych, London, WC2B 4BG, United Kingdom
Javier García: Computer Science Department, Universidad Carlos III de Madrid, Avenida de la Universidad, 30, Leganés 28911, Madrid, Spain
Fernando Fernández: Computer Science Department, Universidad Carlos III de Madrid, Avenida de la Universidad, 30, Leganés 28911, Madrid, Spain

International Journal of Information Technology & Decision Making (IJITDM), 2018, vol. 17, issue 03, 763-800

Abstract: Many robotic control architectures perform a continuous cycle of sensing, reasoning and acting, where that reasoning can be carried out in a reactive or deliberative form. Reactive methods are fast and provide the robot with high interaction and response capabilities. Deliberative reasoning is particularly suitable in robotic systems because it employs some form of forward projection (reasoning in depth about goals, pre-conditions, resources and timing constraints) and provides the robot reasonable responses in situations unforeseen by the designer. However, this reasoning, typically conducted using Artificial Intelligence techniques like Automated Planning (AP), is not effective for controlling autonomous agents which operate in complex and dynamic environments. Deliberative planning, although feasible in stable situations, takes too long in unexpected or changing situations which require re-planning. Therefore, planning cannot be done on-line in many complex robotic problems, where quick responses are frequently required. In this paper, we propose an alternative approach based on case-based policy learning which integrates deliberative reasoning through AP and reactive response time through reactive planning policies. The method is based on learning planning knowledge from actual experiences to obtain a case-based policy. The contribution of this paper is two fold. First, it is shown that the learned case-based policy produces reasonable and timely responses in complex environments. Second, it is also shown how one case-based policy that solves a particular problem can be reused to solve a similar but more complex problem in a transfer learning scope.

Keywords: Automated planning; case-base reasoning; robotics; control systems; planning and execution (search for similar items in EconPapers)
Date: 2018
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DOI: 10.1142/S0219622018500086

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