Roman Barták
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View article: Knowledge Engineering for Planning and Scheduling in the LLM Era
Knowledge Engineering for Planning and Scheduling in the LLM Era Open
Automated planning requires explicit domain knowledge, typically represented in PDDL, to generate effective solutions. The process of formulating, maintaining, and validating this knowledge is the cornerstone of Knowledge Engineering for P…
View article: A Holistic Architecture for Monitoring and Optimization of Robust Multi-Agent Path Finding Plan Execution
A Holistic Architecture for Monitoring and Optimization of Robust Multi-Agent Path Finding Plan Execution Open
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing …
View article: On Path Selection for Reduction-Based Solving of Multi-Agent Pathfinding Using Graph Pruning
On Path Selection for Reduction-Based Solving of Multi-Agent Pathfinding Using Graph Pruning Open
Multi-agent pathfinding is the task of navigating a set of mobile agents in a shared environment such that they avoid collisions. Finding an optimal solution in terms of the length of the plan is known to be a computationally hard problem …
View article: Hierarchical Plan Repair via Plan Recognition and Plan Correction
Hierarchical Plan Repair via Plan Recognition and Plan Correction Open
Hierarchical planning extends classical planning by introducing a hierarchy of tasks describing how tasks decompose into subtasks until primitive tasks -- actions -- forming a plan are obtained. Plan repair deals with plans that failed to …
View article: On Removing Left Recursion from Totally-ordered HTN Domain Models
On Removing Left Recursion from Totally-ordered HTN Domain Models Open
Hierarchical planning is a knowledge-based approach to automated planning, where high-level (compound)tasks are decomposed into simpler tasks until primitive tasks – actions – forming the plan are obtained. Hierarchical Task Networks (HTN)…
View article: Planning Domain Model Acquisition from State Traces without Action Parameters
Planning Domain Model Acquisition from State Traces without Action Parameters Open
Existing planning action domain model acquisition approaches consider different types of state traces from which they learn. The differences in state traces refer to the level of observability of state changes (from full to none) and wheth…
View article: Using Earley Parser for Verification of Totally Ordered Hierarchical Plans
Using Earley Parser for Verification of Totally Ordered Hierarchical Plans Open
Hierarchical planning extends classical planning by capturing the hierarchical structure of tasks via decomposition of tasks to subtasks. Hierarchical plan verification is the problem of determining whether a given plan is valid according …
View article: Handling Empty Decomposition Methods in Hierarchical Planning
Handling Empty Decomposition Methods in Hierarchical Planning Open
Hierarchical planning is a form of planning where tasks decompose into sub-tasks until primitive tasks (actions) are obtained. These decompositions might contain additional constraints, such as subtask ordering and state constraints. If a …
View article: The Effectiveness of Autonomous Intersections in a City
The Effectiveness of Autonomous Intersections in a City Open
Vehicle navigation on roads is a complex problem that will probably be solved by using artificial intelligence in key roles. Today, there are cars capable of autonomous driving, but they are dependent on an old infrastructure that primaril…
View article: Planning Domain Model Acquisition from State Traces without Action Parameters
Planning Domain Model Acquisition from State Traces without Action Parameters Open
Existing planning action domain model acquisition approaches consider different types of state traces from which they learn. The differences in state traces refer to the level of observability of state changes (from full to none) and wheth…
View article: On Automating Video Game Regression Testing by Planning and Learning
On Automating Video Game Regression Testing by Planning and Learning Open
In this paper, we propose a method and workflow for automating regression testing of certain video game aspects using automated planning and incremental action model learning techniques. The basic idea is to use detailed game logs and incr…
View article: Some Thoughts on Robustness in Multi-Agent Path Finding
Some Thoughts on Robustness in Multi-Agent Path Finding Open
Multi-agent path finding deals with finding collision free paths for a group of agents moving to given destinations. The off-line generated plan is assumed to be blindly executed on robots, which brings issues when something is not going a…
View article: Using Earley Parser for Recognizing Totally Ordered Hierarchical Plans
Using Earley Parser for Recognizing Totally Ordered Hierarchical Plans Open
Earley Parser is a top-down parser proposed for context-free grammars and used, for example, in the grammar constraint. Parsing trees of context-free grammars are very close to task decomposition trees used in hierarchical planning, specif…
View article: Frontmatter
Frontmatter Open
The Sixteenth International Symposium on Combinatorial Search (SoCS) was held at the Aquapalace Hotel Prague, Czech Republic, at July 14–16, 2023, just after the International Conference on Automated Planning and Scheduling (ICAPS). The sy…
View article: Frontmatter
Frontmatter Open
This volume contains the papers accepted for presentation at ICAPS 2023, the Thirty-Third International Conference on Automated Planning and Scheduling, to be held in Prague, Czech Republic, July 8-13, 2023. The annual ICAPS conference ser…
View article: Multi-Agent Pathfinding with Predefined Paths: To Wait, or Not to Wait, That Is the Question [Extended Abstract]
Multi-Agent Pathfinding with Predefined Paths: To Wait, or Not to Wait, That Is the Question [Extended Abstract] Open
Multi-agent pathfinding is the task of navigating a set of agents in a shared environment without collisions. Finding an optimal plan is a computationally hard problem, therefore, one may want to sacrifice optimality for faster computation…
View article: On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm
On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm Open
In this paper, we consider the plan verification problem for totally ordered (TO) HTN planning. The problem is proved to be solvable in polynomial time by recognizing its connection to the membership decision problem for context-free gramm…
View article: Parsing-Based Recognition of Hierarchical Plans Using the Grammar Constraint
Parsing-Based Recognition of Hierarchical Plans Using the Grammar Constraint Open
Plan recognition is the problem of recognizing a goal task and an agent’s plan based on the observed actions. Plan recognition techniques can be employed in multiagent systems, behaviour recognition, computer security, and other fields rel…
View article: Lessons Learned from the CYK Algorithm for Parsing-based Verification of Hierarchical Plans
Lessons Learned from the CYK Algorithm for Parsing-based Verification of Hierarchical Plans Open
Verification of hierarchical plans deals with the problem of whether an action sequence is causally consistent and can be obtained by a decomposition of a goal task. This second sub-problem (finding the decomposition) makes the verificatio…
View article: Experimental Results for the AAAI 2023 Paper "On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm"
Experimental Results for the AAAI 2023 Paper "On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm" Open
This is the collection of the experimental results reported in the paper "On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm". For a detailed explanation, please read the README.md f…
View article: Experimental Results for the AAAI 2023 Paper "On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm"
Experimental Results for the AAAI 2023 Paper "On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm" Open
This is the collection of the experimental results reported in the paper "On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm". For a detailed explanation, please read the README.md f…
View article: Multi-agent Pathfinding on Large Maps Using Graph Pruning: This Way or That Way? (Extended Abstract)
Multi-agent Pathfinding on Large Maps Using Graph Pruning: This Way or That Way? (Extended Abstract) Open
This paper extends a study on improving the performance of reduction-based solvers for the problem of multi-agent pathfinding. The task is to navigate a set of agents in a graph without collisions. Solvers that reduce this problem to other…
View article: On Heuristics for Parsing-based Verification of Hierarchical Plans with a Goal Task
On Heuristics for Parsing-based Verification of Hierarchical Plans with a Goal Task Open
Verification of hierarchical plans deals with the problem if a given action sequence is a valid hierarchical plan – the action sequence can be obtained by decomposing a particular (goal) task using given decomposition methods. The existing…