A Component-Based Framework for Loosely-Coupled Planning and Scheduling Integrations

A. Cesta, F. Pecora, and R. Rasconi

In Proceedings of the First RoboCare Workshop, Rome, Italy, October, pp. 33-38, 2003

This paper attempts to characterize analyze the issue of planning and scheduling integration in terms of the frequency at which information sharing occurs among the two basic solving cores. In this context, we focus on one end of the spectrum, namely loosely-coupled planner-scheduler integrations. We show how the elementary building blocks of this type of integration are the planner, the scheduler and a plan adaptation procedure which accommodates time and resource constraints and computes a minimal-constrained deordering of the plan produced by the planner. Our investigation on the theoretical properties of the loosely-coupled approach exposes the advantage of propagating sets of partial plans rather than reasoning on sequential state space representations. In particular, we show how optimal planning graph based planners tend to maximize the critical path through the causal network which is reasoned upon by the scheduler.