不确定层次任务网络规划研究综述

王红卫; 刘典; 赵鹏; 祁超; 陈曦

doi:10.16383/j.aas.2016.c150198

不确定层次任务网络规划研究综述

doi: 10.16383/j.aas.2016.c150198

华中科技大学系统工程研究所图像信息处理与智能控制教育部重点实验室武汉 430074

基金项目:

国家自然科学基金 71371079

国家杰出青年基金 71125001

详细信息

作者简介:
刘典华中科技大学自动化学院博士研究生.2008年获得华中科技大学控制科学与工程系学士学位.主要研究方向为HTN规划,应急管理,人工智能.E-mail:liudianop@hust.edu.cn

赵鹏华中科技大学自动化学院博士研究生.2008年获得华中科技大学控制科学与工程系学士学位.主要研究方向为HTN规划,应急管理,人工智能.E-mail:pengzhao@hust.edu.cn

祁超华中科技大学自动化学院系统科学与工程系副教授,博士.2006年毕业于新加坡南洋理工大学.主要研究方向为自动规划,调度与优化,应急管理与决策.E-mail:qichao@hust.edu.cn

陈曦华中科技大学自动化学院系统科学与工程系副教授,博士.2007年毕业于华中科技大学.主要研究方向为复杂系统建模与仿真,计算实验,决策支持,公共安全与应急管理.E-mail:chenxi@hust.edu.cn

通讯作者:
王红卫华中科技大学自动化学院系统工程专业博士,教授.主要研究方向为物流系统,公共安全与应急管理,工程管理.本文通信作者.E-mail:hwwang@mail.hust.edu.cn

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出版历程
- 收稿日期: 2015-04-20
- 录用日期: 2016-02-26
- 刊出日期: 2016-05-01

Review on Hierarchical Task Network Planning under Uncertainty

State Key Laboratory of Education Ministry for Image Processing and Intelligence Control, Systems Engineering Institute, Huazhong University of Science and Technology, Wuhan 430074

Funds:

Supported by National Natural Science Foundation of China 71371079

National Science Fund for Distinguished Young Scholars 71125001

More Information

Author Bio:
Ph. D. candidate at the School of Automation, Huazhong Uni- versity of Science and Technology. He received his bachelor degree from Huazhong University of Science and Technology in 2008. His research interest covers HTN planning, emergency management, and articial intelligence

Ph. D. candidate at the School of Automation, Huazhong University of Science and Technology. He received his bachelor degree from Huazhong University of Science and Technology in 2008. His research interest covers HTN planning, emergency management, and articial intelligence

Ph. D., associate profes- sor in the Department of Systems Sci- ence and Engineering, School of Au- tomation, Huazhong University of Science and Technology, China. She graduated from Nanyang Technological Uni- versity, Singapore in 2006. Her research interest covers au- tomated planning, scheduling and optimization, emergency management, and decision making

Ph. D., associate profes- sor in the Department of Systems Sci- ence and Engineering, School of Automation, Huazhong University of Science and Technology. He graduated from Huazhong University of Science and Technology in 2007. His research interest covers modeling simulation of com- plex systems, computational experiment, decision making support, public security, and emergency management

Corresponding author: WANG Hong-Wei Ph. D., profes- sor in systems engineering at the School of Automation, Huazhong University of Science and Technology. His research interest covers logis- tics systems, public security and emergency management, and modeling simulation of complex systems. Correspond- ing author of this paper

摘要

摘要: 层次任务网络(Hierarchical task network, HTN)规划作为一项重要的智能规划技术被广泛应用于实际规划问题中, 传统的HTN规划无法处理不确定规划问题.然而, 现实世界不可避免地存在无法确定或无法预测的信息, 这使许多学者开始关注不确定规划问题, 不确定HTN规划研究也成为HTN规划研究的前沿.本文从HTN规划过程出发分析了不确定HTN规划问题中涉及的三类不确定, 即状态不确定、动作效果不确定和任务分解不确定; 总结了系统状态、动作效果和任务分解等不确定需要扩展确定性HTN规划模型的工作, 以此对现有不确定HTN规划的研究工作加以梳理和归类; 最后,对不确定HTN规划研究中仍需要解决的问题和未来的研究方向作了进一步展望.
- 智能规划 /
- 不确定规划 /
- HTN规划 /
- 不确定HTN规划
Abstract: As an important automated planning technique, hierarchical task network (HTN) planning has been widely used in practical planning problems, but traditional HTN planning cannot deal with a planning problem with uncertainty. However, there inevitably exist uncertain or unpredictable information in the real world. As a result, many scholars began to focus on planning under uncertainty, and HTN planning under uncertainty has become the forefront research of HTN planning. In this paper, uncertainties of state, action effects and task decomposition are analysed, followed by a summary of the expansion of HTN planning model for treating these three types of uncertainties. Also, existing research works about HTN planning under uncertainty are reviewed and categorized, based on which some unsolved problems in HTN planning with uncertainty and future research directions are brought forward.
- Automated planning /
- uncertain planning /
- hierarchical task network (HTN) planning /
- HTN planning under uncertainty

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图 1 HTN规划过程示意图

Fig. 1 An illustration of HTN planning

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表 1 不确定规划问题分类及代表性规划器

Table 1 quad Classification of planning problem with uncertaintyand representative planner

不确定规划问题	动作效果		状态可观性			规划器
不确定规划问题	确定	不确定	完全可观	部分可观	完全不可观	非HTN规划器	HTN规划器
P1		√	√			GRENDEL^[34]、NDP2^[35]、PROST^[36]	ND-SHOP2、YoYo、LRTDPSHOP2
P2	√			√		PO-PRP^[37]、HCP^[38]、	Cond-SHOP2
P3		√		√		CORPP^[39]	C-SHOP、PC-SHOP
P4	√				√	RBPP^[40]、GC[LAMA]^[41]	-
P5		√			√		-
[0,1]文献[42-43] 中列举了一些早期求解各类不确定规划问题的规划器.

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表 2 现有的不确定HTN规划研究

Table 2 Existing research on HTN planning under uncertainty

不确定HTN规划研究	不确定规划问题	不确定表示方式	扩展
ND-SHOP2、YoYo	P1	逻辑表示	扩展1、2、3
Cond-SHOP2	P2	逻辑表示	扩展4、5(2)、6、7
RTDPSHOP2、LRTDPSHOP2、Fwd-VISHOP2	P1	概率表示	扩展10、2、30(1)
Hierarchical Factored POMDPs	P3	概率表示	扩展10、40、5(1)、60
C-SHOP、PC-SHOP	P3	概率表示	扩展10、40、5(1)、60、70(2)
Probabilistic-HTN	P1+ 任务分解不确定	概率表示	扩展10、8、9

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