From: MAUSAM (mausam_at_cs.washington.edu)
Date: Fri May 30 2003 - 11:07:00 PDT
Sapa: A Domain-Independent Heuristic Metric Temporal Planner
Do & Kambhampati
This paper introduces a planner called SAPA which is a heuristic guided
forward chaining planner which can handle metric resources and deadline
goals.
The main idea of the paper is derivation of heuristics from relaxed
planning graph representation, called RTPG - Relaxed Temporal Planning
Graph. RTPG does not have any mutexes as it doesn't take into account the
delete effects and resource consuming effects. Such an RTPG can be used to
estimate lower bounds of distance from any time stampled state onto goal.
Other non-admissible heuristics are also evaluated.
The experimental section is quite elaborate and well done. It would be
nicer had they mentioned both heuristic evaluation time and search time
separately, and compared with other planners so as to give an estimate of
how good the overall system is compared to other known planners, though
they mention that other planners did not have open sources etc.
Future directions could be introducing mutexes in RTPG to achieve better
heuristics. One could see if similar techniques could be applied to
actions with uncertain durations. One may endevour to improve the quality
of plans produced by having a closer look at them.
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