AAAI Publications, Twenty-Third International Conference on Automated Planning and Scheduling

Font Size: 
Paper Summary: Probabilistic Planning for Continuous Dynamic Systems under Bounded Risk
Masahiro Ono, Brian C. Williams, Lars Blackmore

Last modified: 2013-06-02


This paper presents a model-based planner called the Probabilistic Sulu Planner or the p-Sulu Planner, which controls stochastic systems in a goal directed manner within user-specified risk bounds. We first develop a new plan representation called a chance-constrained qualitative state plan (CCQSP), through which users can specify the desired evolution of the plant state as well as the acceptable level of risk. We then develop the p-Sulu Planner, which can tractably solve a CCQSP planning problem.


uncertainty; risk-sensitive planning; model predictive control

Full Text: PDF