arXiv subjects

Roman Barták

Publications and source records attributed to Roman Barták.

5 recordsLinked to original sources

arXiv2025

A Holistic Architecture for Monitoring and Optimization of Robust Multi-Agent Path Finding Plan Execution

The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing the plan may get delayed, which can introduce collision risk. Although robust execution methods are used to ensure safety even in the presence of delays, the delays may still have a significant impact on the duration of the execution. At some point, the accumulated delays may become significant enough that instead of continuing with the execution of the original plan, even if it was optimal, there may now exist an alternate plan which will lead to a shorter execution. However, the problem is how to decide when to search for the alternate plan, since it is a costly procedure. In this paper, we propose a holistic architecture for robust execution of MAPF plans, its monitoring and optimization. We exploit a robust execution method called Action Dependency Graph to maintain an estimate of the expected execution duration during the plan's execution. This estimate is used to predict the potential that finding an alternate plan would lead to shorter execution. We empirically evaluate the architecture in experiments in a real-time simulator which we designed to mimic our real-life demonstrator of an autonomous warehouse robotic fleet.

cs.MA↗

arXiv2025

Planning Domain Model Acquisition from State Traces without Action Parameters

Existing planning action domain model acquisition approaches consider different types of state traces from which they learn. The differences in state traces refer to the level of observability of state changes (from full to none) and whether the observations have some noise (the state changes might be inaccurately logged). However, to the best of our knowledge, all the existing approaches consider state traces in which each state change corresponds to an action specified by its name and all its parameters (all objects that are relevant to the action). Furthermore, the names and types of all the parameters of the actions to be learned are given. These assumptions are too strong. In this paper, we propose a method that learns action schema from state traces with fully observable state changes but without the parameters of actions responsible for the state changes (only action names are part of the state traces). Although we can easily deduce the number (and names) of the actions that will be in the learned domain model, we still need to deduce the number and types of the parameters of each action alongside its precondition and effects. We show that this task is at least as hard as graph isomorphism. However, our experimental evaluation on a large collection of IPC benchmarks shows that our approach is still practical as the number of required parameters is usually small. Compared to the state-of-the-art learning tools SAM and Extended SAM our new algorithm is able to provide better results in multiple domains in terms of learning action models more similar to reference models, even though it uses less information and has fewer restrictions on the input traces.

cs.AI↗

arXiv2024

On Automating Video Game Regression Testing by Planning and Learning

In this paper, we propose a method and workflow for automating regression testing of certain video game aspects using automated planning and incremental action model learning techniques. The basic idea is to use detailed game logs and incremental action model learning techniques to maintain a formal model in the planning domain description language (PDDL) of the gameplay mechanics. The workflow enables efficient cooperation of game developers without any experience with PDDL or other formal systems and a person experienced with PDDL modeling but no game development skills. We describe the method and workflow in general and then demonstrate it on a concrete proof-of-concept example -- a simple role-playing game provided as one of the tutorial projects in the popular game development engine Unity. This paper presents the first step towards minimizing or even eliminating the need for a modeling expert in the workflow, thus making automated planning accessible to a broader audience.

cs.HC↗

arXiv2014

Using Tabled Logic Programming to Solve the Petrobras Planning Problem

Tabling has been used for some time to improve efficiency of Prolog programs by memorizing answered queries. The same idea can be naturally used to memorize visited states during search for planning. In this paper we present a planner developed in the Picat language to solve the Petrobras planning problem. Picat is a novel Prolog-like language that provides pattern matching, deterministic and non-deterministic rules, and tabling as its core modelling and solving features. We demonstrate these capabilities using the Petrobras problem, where the goal is to plan transport of cargo items from ports to platforms using vessels with limited capacity. Monte Carlo Tree Search has been so far the best technique to tackle this problem and we will show that by using tabling we can achieve much better runtime efficiency and better plan quality.

cs.AI↗

arXiv2009

Efficient Multi-site Data Movement Using Constraint Programming for Data Hungry Science

For the past decade, HENP experiments have been heading towards a distributed computing model in an effort to concurrently process tasks over enormous data sets that have been increasing in size as a function of time. In order to optimize all available resources (geographically spread) and minimize the processing time, it is necessary to face also the question of efficient data transfers and placements. A key question is whether the time penalty for moving the data to the computational resources is worth the presumed gain. Onward to the truly distributed task scheduling we present the technique using a Constraint Programming (CP) approach. The CP technique schedules data transfers from multiple resources considering all available paths of diverse characteristic (capacity, sharing and storage) having minimum user's waiting time as an objective. We introduce a model for planning data transfers to a single destination (data transfer) as well as its extension for an optimal data set spreading strategy (data placement). Several enhancements for a solver of the CP model will be shown, leading to a faster schedule computation time using symmetry breaking, branch cutting, well studied principles from job-shop scheduling field and several heuristics. Finally, we will present the design and implementation of a corner-stone application aimed at moving datasets according to the schedule. Results will include comparison of performance and trade-off between CP techniques and a Peer-2-Peer model from simulation framework as well as the real case scenario taken from a practical usage of a CP scheduler.

cs.DC↗