Most practical work on AI planning systems during the last fteen years has been based on hierarchical task network (HTN) decomposition, but until now, there has been very little analytical work on the properties of HTN planners. This paper describes how the complexity of HTN planning varies

, planning under uncertainty, sensor-based planning, visibility, decision-theoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.

We introduce a new approach to planning in STRIPS-like domains based on constructing and analyzing a compact structure we call a Planning Graph. We describe a new planner, Graphplan, that uses this paradigm. Graphplan always returns a shortest possible partial-order plan, or states that no valid

In recent years research in the planning community has moved increasingly towards application of planners to realistic problems involving both time and many types of resources. For example, interest in planning demonstrated by the space research community has inspired work in observation scheduling

Planning under uncertainty is a central problem in the study of automated sequential decision making, and has been addressed by researchers in many different fields, including AI planning, decision analysis, operations research, control theory and economics. While the assumptions

A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose

that points the way to a solution of the second. In particular, we present a high-level specification of the practical-reasoning component of an architecture for a resource-bounded rational agent. In this architecture, a major role of the agent's plans is to constrain the amount of further practical

The SHOP2 planning system received one of the awards for distinguished performance in the 2002 International Planning Competition. This paper describes the features of SHOP2 which enabled it to excel in the competition, especially those aspects of SHOP2 that deal with temporal and metric planning

With the significant advances in Information and Communications Technology (ICT) over the last half century, there is an increasingly perceived vision that computing will one day be the 5th utility (after water, electricity, gas, and telephony). This computing utility, like all other four existing

Abstract — IP-based solutions to accommodate mobile hosts within existing internetworks do not address the distinctive features of wireless mobile computing. IP-based transport protocols thus suffer from poor performance when a mobile host communicates with a host on the fixed network