A Concise Introduction to Models and Methods for Automated Planning

Cover
Copyright
Title Page
Contents
Preface
Planning and Autonomous Behavior
	Autonomous Behavior: Hardwired, Learned, and Model-based
	Planning Models and Languages
	Generality, Complexity, and Scalability
	Examples
	Generalized Planning: Plans vs. General Strategies
	History
Classical Planning: Full Information and Deterministic Actions
	Classical Planning Model
	Classical Planning as Path Finding
	Search Algorithms: Blind and Heuristic
	Online Search: Thinking and Acting Interleaved
	Where do Heuristics come from?
	Languages for Classical Planning
	Domain-Independent Heuristics and Relaxations
	Heuristic Search Planning
	Decomposition and Goal Serialization
	Structure, Width, and Complexity
Classical Planning: Variations and Extensions
	Relaxed Plans and Helpful Actions
	Multi-Queue Best-First Search
	Implicit Subgoals: Landmarks
	State-of-the-Art Classical Planners
	Optimal Planning and Admissible Heuristics
	Branching Schemes and Problem Spaces
	Regression Planning
	Planning as SAT and Constraint Satisfaction
	Partial-Order Causal Link Planning
	Cost, Metric, and Temporal Planning
	Hierarchical Task Networks
Beyond Classical Planning: Transformations
	Soft Goals and Rewards
	Incomplete Information
	Plan and Goal Recognition
	Finite-State Controllers
	Temporally Extended Goals
Planning with Sensing: Logical Models
	Model and Language
	Solutions and Solution Forms
	Offline Solution Methods
	Online Solution Methods
	Belief Tracking: Width and Complexity
	Strong vs. Strong Cyclic Solutions
MDP Planning: Stochastic Actions and Full Feedback
	Goal, Shortest-Path, and Discounted Models
	Dynamic Programming Algorithms
	Heuristic Search Algorithms
	Online MDP Planning
	Reinforcement Learning, Model-based RL, and Planning
POMDP Planning: Stochastic Actions and Partial Feedback
	Goal, Shortest-Path, and Discounted POMDPs
	Exact Offline Algorithms
	Approximate and Online Algorithms
	Belief Tracking in POMDPs
	Other MDP and POMDP Solution Methods
Discussion
	Challenges and Open Problems
	Planning, Scalability, and Cognition
Bibliography
Author\'s Biography