自动规划中的执行灵活性：去序与重序策略的比较评估

中文摘要 AI 辅助

本研究涵盖了增强计划执行灵活性的基础概念，包括偏序规划、生产者-消费者-威胁形式体系，以及一系列去序和重序策略。通过移除不必要的排序约束，从顺序计划创建偏序计划是提高执行灵活性的一种实用方法，为此任务已提出了多种方法。本研究分析了这些方法在排序、动作处理、参数处理、计划结构、并发性和复杂性方面的能力，并在共享基准上对它们进行了相互评估。核心发现是，基于块去序的方法（通过块级分组和子计划替换来重构因果依赖）显著优于基于MaxSAT的方法，尽管后者具有最小重序的理论保证。原因在于结构上的差异：最小重序在计划中已存在的因果结构内进行优化，而基于块去序的方法改变了该结构，暴露了原本看似必要的排序。另一个区别是实际性的：基于块去序的方法是任意时间算法，总能返回有效结果，而基于MaxSAT的方法在相当一部分计划上完全失败，并且在失败时不提供任何部分解决方案。块替换通过形式化非并发约束进一步扩展了并行执行，尽管其影响仅限于具有基于资源交互的领域。在效率方面，基于块去序的方法在单位计算时间内实现了最高的灵活性增益，而基于MaxSAT的编码则产生了巨大的计算开销。

英文摘要

This study covers foundational concepts for enhancing plan-execution flexibility, including partial-order planning, the producer-consumer-threat formalism, and a range of deordering and reordering strategies. Creating a partial-order plan from a sequential one by removing unnecessary ordering constraints is a practical way to improve execution flexibility, and several methods have been proposed for this task. This study analyzes their capabilities across ordering, action handling, parameter handling, plan structure, concurrency, and complexity, and evaluates them against each other on a shared benchmark. The central finding is that block deordering-based approaches, which restructure causal dependencies through block-level grouping and subplan substitution, substantially outperform MaxSAT-based approaches despite the latter's theoretical guarantees of minimum reordering. The reason is structural: minimum reordering optimizes within the causal structure already present in the plan, whereas block deordering-based methods change that structure, exposing orderings that would otherwise appear necessary. A further distinction is practical: block deordering-based methods are anytime algorithms that always return a valid result, while MaxSAT-based methods fail entirely on a substantial portion of plans and offer no partial solution when they do. Block substitution further extends the parallel execution by formalizing non-concurrency constraints, though its impact is limited to domains with resource-based interactions. On efficiency, block deordering-based approaches achieve the highest flex gain per unit of computation time, while MaxSAT-based encodings incur large computational overhead.

发表机构

• Dhaka University of Engineering & Technology（达卡工程技术大学）
• University of North Texas（北德克萨斯大学）

机构由 AI 辅助整理，请以论文原文为准。