All intelligence relies on search --- for example, the search for an intelligent agent's next action. Search is only likely to succeed in resource-bounded agents if they have already been biased towards finding the right answer. In artificial agents, the primary source of bias is engineering. This dissertation

Most recent strides in scaling up planning have centered around two competing themes--disjunctive planners, exemplified by Graphplan, and heuristic state search planners, exemplified by UNPOP, HSP and HSP-r. In this paper, we present a novel approach for successfully harnessing the advantages of the two competing paradigms to develop planners that are significantly more powerful than either of the approaches. Specifically, we show that the polynomial-time planning graph structure that the Graphplan builds provides a rich substrate for deriving a family of highly effective heuristics for guiding state space search as well as CSP-style search. The main leverage provided by the planning graph structure is a systematic and graded way to take subgoal interactions into account in designing state space heuristics.

Recently model checking representation and search techniques were shown to be efficiently applicable to planning, in particular to non-deterministic planning. Such planning approaches use Ordered Binary Decision Diagrams (obdds) to encode a planning domain as a non-deterministic finite automaton and then apply fast algorithms from model checking to search for a solution. obdds can effectively scale and can provide universal plans for complex planning domains. We are particularly interested in addressing the complexities arising in non-deterministic, multi-agent domains. In this article, we present umop, a new universal obdd-based planning framework for non-deterministic, multi-agent domains. We introduce a new planning domain description language, NADL, to specify non-deterministic, multi-agent domains. The language contributes the explicit definition of controllable agents and uncontrollable environment agents. We describe the syntax and semantics of NADL and show how to bu...

AbstractÐThe widespread use of GUIs for interacting with software is leading to the construction of more and more complex GUIs. With the growing complexity come challenges in testing the correctness of a GUI and its underlying software. We present a new technique to automatically generate test cases for GUIs that exploits planning, a well-developed and used technique in artificial intelligence. Given a set of operators, an initial state, and a goal state, a planner produces a sequence of the operators that will transform the initial state to the goal state. Our test case generation technique enables efficient application of planning by first creating a hierarchical model of a GUI based on its structure. The GUI model consists of hierarchical planning operators representing the possible events in the GUI. The test designer defines the preconditions and effects of the hierarchical operators, which are input into a plan-generation system. The test designer also creates scenarios that represent typical initial and goal states for a GUI user. The planner then generates plans representing sequences of GUI interactions that a user might employ to reach the goal state from the initial state. We implemented our test case generation system, called Planning Assisted Tester for grapHical user interface Systems (PATHS) and experimentally evaluated its practicality and effectiveness. We describe a prototype implementation of PATHS and report on the results of controlled experiments to generate test cases for Microsoft's WordPad. Index TermsÐSoftware testing, GUI testing, application of AI planning, GUI regression testing, automated test case generation, generating alternative plans. 1

In the future, webs of unmanned air and space vehicles will act together to robustly perform elaborate missions in uncertain environments. We coordinate these systems by introducing a reactive model-based programming language (RMPL) that combines within a single unified representation the flexibility of embedded programming and reactive execution languages, and the deliberative reasoning power of temporal planners. The KIRK planning system takes as input a problem expressed as a RMPL program, and compiles it into a temporal plan network (TPN), similar to those used by temporal planners, but extended for symbolic constraints and decisions. This intermediate representation clarifies the relation between temporal planning and causal-link planning, and permits a single task model to be used for planning and execution. Such a

Unary operator domains -- i.e., domains in which operators have a single effect -- arise naturally in many control problems. In its most general form, the problem of strips planning in unary operator domains is known to be as hard as the general strips planning problem -- both are pspace-complete. However, unary operator domains induce a natural structure, called the domain's causal graph. This graph relates between the preconditions and effect of each domain operator. Causal graphs were exploited by Williams and Nayak in order to analyze plan generation for one of the controllers in NASA's Deep-Space One spacecraft. There, they utilized the fact that when this graph is acyclic, a serialization ordering over any subgoal can be obtained quickly. In this paper we conduct a comprehensive study of the relationship between the structure of a domain's causal graph and the complexity of planning in this domain. On the positive side, we show that a non-trivial polynomial time plan generation algorithm exists for domains whose causal graph induces a polytree with a constant bound on its node indegree. On the negative side, we show that even plan existence is hard when the graph is a directed-path singly connected DAG.

... This thesis develops a unified solution to the GUI testing problem with the particular goals of automation and integration of tools and techniques used in various phases of GUI testing. These goals are accomplished by developing a GUI testing framework with a GUI model as its central component. For efficiency and scalability, a GUI is represented as a hierarchy of components, each used as a basic unit of testing. The framework also includes a test coverage evaluator, test case generator, test oracle, test executor, and regression tester. The test coverage evaluator employs hierarchical, event-based coverage criteria to automatically specify what to test in a GUI and to determine whether the test suite has adequately tested the GUI. The test case generator employs plan generation techniques from artificial intelligence to automatically generate a test suite. A test executor automatically executes all the test cases on the GUI. As test cases are being executed, a test oracle automatically determines the correctness of the GUI. The test oracle employs a model of the expected state of the GUI in terms of its constituent objects and their properties. After changes are made to a GUI, a regression tester partitions the original GUI test suite into valid test cases that represent correct input/output for the modified GUI and invalid test cases that no longer represent correct input/output. The regression tester employs a new technique to reuse some of the invalid test cases by repairing them.

Domain-independent planning is a hard combinatorial problem. Taking into account plan quality makes the task even more difficult. This article introduces Planning by Rewriting (PbR), a new paradigm for efficient high-quality domain-independent planning. PbR exploits declarative plan-rewriting rules and efficient local search techniques to transform an easy-to-generate, but possibly suboptimal, initial plan into a high-quality plan. In addition to addressing the issues of planning efficiency and plan quality, this framework offers a new anytime planning algorithm. We have implemented this planner and applied it to several existing domains. The experimental results show that the PbR approach provides significant savings in planning effort while generating high-quality plans.

We illustrate ALSP (Action Language for Security Protocol), a declarative executable specification language for planning attacks to security protocols. ALSP is based on logic programming with negation as failure, and with stable model semantics. In ALSP we can give a declarative specification of a protocol with the natural semantics of send and receive actions which can be performed in parallel. By viewing a protocol trace as a plan to achieve a goal, attacks are (possibly parallel) plans achieving goals that correspond to security violations. Building on results from logic programming and planning, we map the existence of an attack into the existence of a model for the protocol that satisfies the specification of an attack. We show that our liberal model of parallel actions can adequately represent the traditional Dolev-Yao trace-based model used in the formal analysis of security protocols. Specifications in ALSP are executable, as we can automatically search for attacks via an efficient model generator (smodels), implementing the stable model semantics of normal logic programs.

The Internet provides access to a wealth of information. For any given topic or application domain there are a variety of available information sources. However, current systems, such as search engines or topic directories in the World Wide Web, offer only very limited capabilities for locating, combining, and organizing information. Mediators, systems that provide integrated access and database-like query capabilities to information distributed over heterogeneous sources, are critical to realize the full potential of meaningful access to networked information. Query planning, the task of generating a cost-efficient plan that computes a user query from the relevant information sources, is central to mediator systems. However, query planning is a computationally hard problem due to the large number of possible sources and possible orderings on the operations to process the data. Moreover, the choice of sources, data processing operations, and their ordering, strongly affects the plan c...