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Published November 19, 2019 | Version v1
Conference paper Open

A Prototype for the Robust Execution of Flexible Plans

  • 1. CNR-ISTC
  • 2. Università ROMA TRE

Description

Timeline-based Planning and Scheduling (P&S) usually deals with two main sources of uncertainty: some components may depend on an external environment and cannot be planned; there may be tasks whose duration cannot be exactly foreseen in advance. Such uncertainties are formally defined and consequent controllability issues have been addressed, focusing on dynamic controllability. In this work, we present a new software prototype, tiga2exec, for dynamic controllable execution of timeline-based plans leveraging recent results gathered from the integration of P&S and Model Checking techniques. tiga2exec is deployed in a timeline-based planning system to control plan execution guaranteeing dynamic controllability. A preliminary experimental evaluation is also presented.

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Funding

SHAREWORK – Safe and effective HumAn-Robot coopEration toWards a better cOmpetiveness on cuRrent automation lacK manufacturing processes. 820807
European Commission