PLANNING THE PROJECT MANAGEMENT WAY: EFFICIENT PLANNING BY EFFECTIVE INTEGRATION OF CAUSAL AND RESOURCE REASONING IN REALPLAN pdf

TECHNOLOGY
DEVELOPMENT
STRATEGY
$$$
MANAGEMENT
MS Project
Scheduling Tool
SCHEDULE
TASKS
MID/ LOW
MANAGER
FEASIBLE PROJECTS
BUDGETED, APPROVED
PROJECT PLAN
IMPLEMENT
0.0 20.0 40.0 60.0 80.0 100.0
#robots
0.0
0.1
1.0
10.0
100.0
1000.0
log(time in secs)
Performance of different Planners
in Shuffle 6 Blocks Problem
FF
AltAlt
RealPlan

Graphplan
Blackbox (Satz)
A
B
A
B
R1 R2
Initial State
Goal State
TABLE
on_A_Tab
on_B_Tab
clear_A
clear_B
armE_R1
armE_R2
on_A_Tab
on_B_Tab
clear_A
clear_A
on_B_Tab
on_A_Tab
clear_B
clear_B
PICK_A_R1
PICK_A_R2
PICK_B_R1
PICK_B_R2
PICK_A_R2
STACK_A_B_R1

STACK_B_A_R1
PICK_B_R2
STACK_B_A_R2
PICK_B_R1
PICK_A_R1
hold_A_R1
hold_A_R2
hold_B_R1
hold_B_R2
.
.
on_A_B
.
.
.
.
.
.
.
Fact level 0
Action level 0
Fact level 1
Action level 1
Fact level 2
STACK_A_B_R2
1 3 5 7 9
# robots
0.1
1.0
10.0

100.0
log(time in secs)
Performance of Graphplan and Blackbox (satz)
in the 6-block Shuffle Problem in Blocks World
GP-G
GP-S
GP-TOT
BB-TOT
1 3 5 7 9
# robots
0.1
1.0
10.0
100.0
1000.0
log (time in secs)
Performance of Graphplan in Shuffle Problem
with varying number of blocks and robots
SHUF4-GP-TOT
SHUF6-GP-TOT
SHUF8-GP-TOT
SHUF10-GP-TOT
1.0 3.0 5.0 7.0
# robots
10.0
12.0
14.0
16.0
18.0
Numerical Value

A Look into Plans by Graphplan
in the Blocks World domain
Length of plan
Number of steps in plan
R1 R2
Initial State
Goal State
TABLE
C
B
A
A
C
B
NO
YES
Planning Done
PLANNER
Set Alloc Policy
SCHEDULER
Schedule Done
YES
Post-process
YES
Executable Plan
NO
NO
YES
Alloc needed
START

FAIL
SUCCESS
NO
Abstraction Switch
PLANNER
SCHEDULER
PLANNER SCHEDULER
T
R
A
N
S
L
A
T
O
R
POLICY
FAILURE/
SUCCESS
POLICY/
NO-GOOD
NO-GOOD
TRANSLATED
FEEDBACK
TRANSLATED
FEEDBACK
MASTER-SLAVE
PEER-PEER

Plan with 1 resource
Plan with 2 resource


Level 1
Level 2
Level 3
Level K
Level K-1
.
.
.
Maximally parallel plan
Maximally serial plan
Plan with R-1 resource
Plan with R resource
Plan with N >= R resource
Planning Problem
Executable Plan
(Re-) Schedule
(Re-) Plan
PLANNER SCHEDULER
Level Actions by level # Robots
Unstack_R_blkF_blkE 11
5
6

6
7
8
9
Unstack_R_blkE_blkD
Unstack_R_blkD_blkC
Unstack_R_blkB_blkA
Stack_R_blkF_blkC
Pickup_R_blkA
Stack_R_blkB_blkF
Stack_R_blkE_blkB
Stack_R_blkA_blkE
Stack_R_blkD_blkA
5 Putdown_R_blkC
Unstack_R_blkC_blkB4
3
2
10
3
4
5
5
4
3
2
1
2
A^1_6 A_8 A_9 A_10A_7A^1_5A_4A_3A_2A_1
A^2_5 A^2_6
Viewing actions as tasks of unit time

A
A
F
U
1
2
A
6
A
5
Span, S
Span, S
1,6
1,6
1,6
2,5