BIB-VERSION:: CS-TR-v2.0
          ID:: STAN//CS-TR-94-1512
       ENTRY:: April 19, 1994
ORGANIZATION:: Stanford University, Department of Computer Science
       TITLE:: Abstraction Planning in Real Time
        TYPE:: Technical Report
      AUTHOR:: Washington, Richard
       PAGES:: 106
    ABSTRACT:: When a planning agent works in a complex, real-world domain,
               it is unable to plan for and store all possible contingencies
               and problem situations ahead of time. The agent needs to be
               able to fall back on an ability to construct plans at run
               time under time constraints. This thesis presents a method
               for planning at run time that incrementally builds up plans
               at multiple levels of abstraction. The plans are continually
               updated by information from the world, allowing the planner
               to adjust its plan to a changing world during the planning
               process. All the information is represented over intervals of
               time, allowing the planner to reason about durations,
               deadlines, and delays within its plan. In addition to the
               method, the thesis presents a formal model of the planning
               process and uses the model to investigate planning
               strategies. The method has been implemented, and experiments
               have been run to validate the overall approach and the
               theoretical model.
       NOTES:: Also published as KSL-TR-94-21 by Stanford University,
               Department of Computer Science, Knowledge Systems Laboratory.
               [Adminitrivia V1/Prg/19940419]
         END:: STAN//CS-TR-94-1512