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Planning in robotics must be considered jointly with Acting. Planning is an open loop activity which produces a plan, based on action models, the current state of the world and the desired goal state. Acting, on the other hand, is a closed loop on the environment activity (to execute command and perceive the state of the world). These two deliberative(More)
AI Planning typically deals with the causal relations between the actions while the role of explicit time and limited resources is suppressed. The recent trends show that integrating time and resource reasoning into planning significantly improves direct applicability of planning technology in real-life problems. In this paper we propose a suboptimal(More)
This paper reports on FAPE (Flexible Acting and Planning Environment), a framework integrating acting and planning on the basis of the ANML modeling language. ANML is a recent proposal motivated by combining the expressiveness of the timeline representation with decomposition methods of Hierarchical Task Networks (HTN). Our current focus is not efficient(More)
AI Planning is inherently hard and hence it is desirable to derive as much information as we can from the structure of the planning problem and let this information be exploited by a planner. Many recent planners use the finite-domain state-variable representation of the problem instead of the traditional propositional representation. However, most planning(More)
The Petrobras domain is an abstraction of a real-life problem of resource-efficient transportation of goods from ports to petroleum platforms. Being a good example of a difficult problem standing on the borderline between planning and scheduling, this domain was proposed as a challenge problem at the International Competition on Knowledge Engineering for(More)
Single-atom catalysts maximize the utilization of supported precious metals by exposing every single metal atom to reactants. To avoid sintering and deactivation at realistic reaction conditions, single metal atoms are stabilized by specific adsorption sites on catalyst substrates. Here we show by combining photoelectron spectroscopy, scanning tunnelling(More)
This paper deals with planning domains that appear in computer games, especially when modeling intelligent virtual agents. Some of these domains contain only actions with no negative effects and are thus treated as easy from the planning perspective. We propose two new techniques to solve the problems in these planning domains, a heuristic search algorithm(More)
Acknowledgements I thank my supervisor, Doc. RNDr. Roman Barták, Ph.D., for his patient guidance and for his critical comments that helped me make this thesis better. I thank my parents for their continuous support through the work on this thesis and through all my studies. I hereby declare that I have written this diploma thesis on my own and solely with(More)