Hierarchical Plan-Based Control in Open-Ended Environments: Considering Knowledge Acquisition Opportunities
We introduce a novel hierarchical planning approach that extends previous approaches by additionally considering decompositions that are only applicable with respect to a consistent extension of the (open-ended) domain model at hand. The introduced planning approach is integrated into a plan-based control architecture that interleaves planning and execution automatically so that missing information can be acquired by means of active knowledge acquisition. If it is more reasonable, or even necessary, to acquire additional information prior to making the next planning decision, the planner postpones the overall planning process, and the execution of appropriate knowledge acquisition tasks is automatically integrated into the overall planning and execution process.
KeywordsPlan-based Control Continual Planning HTN Planning Reasoning Knowledge Representation Plan Execution
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