Gabriel J. Ferrer, Glenn S. Wasson, James P. Gunderson, and Worthy N. Martin, University of Virginia
We are investigating the use of planning in multi-robot, real-time, dynamic environments. Our paper discusses an anytime planning algorithm we have devised for the particular problem of replanning. Our anytime algorithm begins by repairing a restricted part of the plan without altering the rest of the plan. The part of the plan that can be replanned is then progressively increased until the algorithm is interrupted or the entire plan has been replanned.