Design of a Reactive System Based on Classical Planning
John L. Bresina · 1993
This paper presents a design for a reactive sys-tem based on the classical planning techniques of problem reduction and state space search. The proposed approach enables a reactive sys-tem to be scaled up to handle larger sets of tasks. Problem reduction synthesizes an ini-tial reactive policy for a given task. When an execution impasse occurs, state space search finds critical choice points, from which control rules are synthesized. These rules alter the policy’s future behavior in order to avoid the impasse. This technique, called critical choice planning, incrementally debugs the initial pol-icy in the least restrictive way; this "least re-strictive property " makes the technique a per-fect match for problem reduction. Over time, the problem reduction rules are improved via learning from the debugging experiences.