Approximately Optimal Monitoring of Plan Preconditions

  title={Approximately Optimal Monitoring of Plan Preconditions},
  author={Craig Boutilier},
Monitoring plan preconditions can allow for replanning when a precondition fails, generally far in advance of the point in the plan where the precondition is relevant. However, monitoring is generally costly, and some precondition failures have a very small impact on plan quality. We formulate a model for optimal precondition monitoring, using partially-observable Markov decisions processes, and describe methods for solving this model effectively, though approximately. Specifically, we show… CONTINUE READING
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