Planning Instances Research Articles

Refining and implementing of a decision tree based risk assessment model for college students’ innovation and entrepreneurship

This study introduces a novel risk assessment model for university student innovation and entrepreneurship, grounded in decision tree (DT) methodology. It tackles the challenges faced by traditional models in merging multi-source data and understanding nonlinear relationships. This advanced approach aims to enhance both the precision and reliability of risk evaluations in the context of student-led entrepreneurial ventures. From the four dimensions of entrepreneurial environment, entrepreneurial education, entrepreneurial groups, and entrepreneurs, relevant college student innovation and entrepreneurship data was collected, and the collected data was preprocessed to select the most relevant feature from all available features. The C4.5 algorithm was optimized by cross validation to determine the depth of the number and the minimum sample size of leaf nodes, and a post-pruning strategy was adopted. The optimized C4.5 model was compared with Iterative Dichotomiser 3 (ID3), Classification and Regression Trees (CART), and C4.5 model, and risk assessment was applied to three entrepreneurial plan instances. The experimental findings indicated that the optimized C4.5 model had an average accuracy rate of 90.7% for the risk classification of college students’ innovation and entrepreneurship, and could accurately assess the risk of multiple entrepreneurial conditions in a comprehensive entrepreneurial plan.

The Continuous Time-Resource Trade-off Scheduling Problem with Time Windows

We introduce a variant of the cumulative scheduling problem (CuSP) characterized by continuous modes, time windows, and a criterion that involves safety margin maximization. The study of this variant is motivated by the Geospatial based Environment for Optimisation Systems Addressing Fire Emergencies Horizon 2020 Project, which is devoted to the design of evacuation plans in the face of natural disasters and more specifically, wildfire. People and goods have to be transferred from endangered places to safe places, and evacuation planning consists of scheduling evacuee moves along precomputed paths under arc capacities and deadlines. The resulting model is relevant in other contexts, such as project or industrial process scheduling. We consider here several formulations of the continuous time-resource trade-off scheduling problem (CTRTP-TW) with a safety maximization objective. We establish a complete complexity characterization distinguishing polynomial and NP-hard special cases depending on key parameters. We show that the problem with fixed sequencing (i.e., with predetermined overlap or precedence relations between activities) is convex. We then show that the preemptive variant is polynomial, and we propose lower and upper bounds based on this relaxation. A flow-based mixed-integer linear programming formulation is presented, from which a branch-and-cut exact method and an insertion heuristic are derived. An exact dedicated branch-and-bound algorithm is also designed. Extensive computational experiments are carried out to compare the different approaches on evacuation planning instances and on general CTRTP-TW instances. The experiments also show the interest of the continuous model compared with a previously proposed discrete approximation. History: Accepted by Andrea Lodi, Area Editor for Design & Analysis of Algorithms—Discrete. Funding: This work was funded by the Horizon 2020 Marie Skłodowska-Curie Research and Innovation Staff Exchange European Project 691161 GEO-SAFE (Geospatial based Environment for Optimisation Systems Addressing Fire Emergencie). This work has also been supported by ANITI, the Artificial and Natural Intelligence Toulouse Institute. Supplemental Material: The software that supports the findings of this study is available within the paper and its Supplemental Information ( https://pubsonline.informs.org/doi/suppl/10.1287/ijoc.2022.0142 ) as well as from the IJOC GitHub software repository ( https://github.com/INFORMSJoC/2022.0142 ). The complete IJOC Software and Data Repository is available at https://informsjoc.github.io/ .

Generalized planning as heuristic search: A new planning search-space that leverages pointers over objects

Planning as heuristic search is one of the most successful approaches to classical planning but unfortunately, it does not trivially extend to Generalized Planning (GP); GP aims to compute algorithmic solutions that are valid for a set of classical planning instances from a given domain, even if these instances differ in their number of objects, the initial and goal configuration of these objects and hence, in the number (and possible values) of the state variables. State-space search, as it is implemented by heuristic planners, becomes then impractical for GP. In this paper we adapt the planning as heuristic search paradigm to the generalization requirements of GP, and present the first native heuristic search approach to GP. First, the paper introduces a new pointer-based solution space for GP that is independent of the number of classical planning instances in a GP problem and the size of those instances (i.e. the number of objects, state variables and their domain sizes). Second, the paper defines an upgraded version of our GP algorithm, called Best-First Generalized Planning (BFGP), that implements a best-first search in our pointer-based solution space for GP. Lastly, the paper defines a set of evaluation and heuristic functions for BFGP that assess the structural complexity of the candidate GP solutions, as well as their fitness to a given input set of classical planning instances. The computation of these evaluation and heuristic functions does not require grounding states or actions in advance. Therefore our GP as heuristic search approach can handle large sets of state variables with large numerical domains, e.g. integers.

Correctness-guaranteed strategy synthesis and compression for multi-agent autonomous systems

Planning is a critical function of multi-agent autonomous systems, which includes path finding and task scheduling. Exhaustive search-based methods such as model checking and algorithmic game theory can solve simple instances of multi-agent planning. However, these methods suffer from state-space explosion when the number of agents is large. Learning-based methods can alleviate this problem, but lack a guarantee of correctness of the results. In this paper, we introduce MoCReL, a new version of our previously proposed method that combines model checking with reinforcement learning in solving the planning problem. The approach takes advantage of reinforcement learning to synthesize path plans and task schedules for large numbers of autonomous agents, and of model checking to verify the correctness of the synthesized strategies. Further, MoCReL can compress large strategies into smaller ones that have down to 0.05% of the original sizes, while preserving their correctness, which we show in this paper. MoCReL is integrated into a new version of Uppaal Stratego that supports calling external libraries when running learning and verification of timed games models.

Scaling-Up Generalized Planning as Heuristic Search with Landmarks

Landmarks are one of the most effective search heuristics for classical planning, but largely ignored in generalized planning. Generalized planning (GP) is usually addressed as a combinatorial search in a given space of algorithmic solutions, where candidate solutions are evaluated w.r.t. the instances they solve. This type of solution evaluation ignores any sub-goal information that is not explicit in the representation of the planning instances, causing plateaus in the space of candidate generalized plans. Furthermore, node expansion in GP is a run-time bottleneck since it requires evaluating every child node over the entire batch of classical planning instances in a GP problem. In this paper we define a landmark counting heuristic for GP (that considers sub-goal information that is not explicitly represented in the planning instances), and a novel heuristic search algorithm for GP (that we call PGP) and that progressively processes subsets of the planning instances of a GP problem. Our two orthogonal contributions are analyzed in an ablation study, showing that both improve the state-of-the-art in GP as heuristic search, and that both benefit from each other when used in combination.

A Fuzzy Logic-Based Algorithm to Solve the Slot Planning Problem in Container Vessels

Background: The slot planning problem is a container allocation problem within a certain location on a vessel. It is considered a sub-problem of a successful decomposition approach for the container vessel stowage planning problem. This decision has a direct effect on container handling operations and the vessel berthing time, which are key indicators for the container terminal efficiency. Methods: In this paper, an approach combining a rule-based fuzzy logic algorithm with a rule-based search algorithm is developed to solve the slot planning problem. The rules in the proposed fuzzy logic algorithm aim at improving the objective function and minimizing/eliminating constraint violation. Results: The computational results of 236 slot planning instances illustrate the efficiency and effectiveness of the proposed algorithm. Conclusions: The results show that the proposed approach is fast and can produce optimal or near-optimal solutions for a comprehensive industrial set of instances.

A Refined Understanding of Cost-Optimal Planning with Polytree Causal Graphs

Complexity analysis based on the causal graphs of planning instances has emerged as a highly important area of research. In particular, tractability results have led to new methods for the identification of domain-independent heuristics. Important early examples of such tractability results have been presented by, for instance, Brafman & Domshlak and Katz & Keyder. More general results based on polytrees and bounding certain parameters were subsequently derived by Aghighi et al. and Ståhlberg. We continue this line of research by analyzing cost-optimal planning restricted to instances with a polytree causal graph, bounded domain size and bounded depth (i.e. the length of the longest directed path in the causal graph). We show that no further restrictions are necessary for tractability, thus generalizing the previous results. Our approach is based on a novel method of closely analysing optimal plans: we recursively decompose the causal graph in a way that allows for bounding the number of variable changes as a function of the depth, using a reording argument and a comparison with prefix trees of known size. We can then transform the planning instances into constraint satisfaction instances; an idea that has previously been exploited by, for example, Brafman & Domshlak and Bäckström. This allows us to utilise efficient algorithms for constraint optimisation over tree-structured instances.

Fast Detection of Unsolvable Planning Instances Using Local Consistency

There has been a tremendous advance in domain-independent planning over the past decades, and planners have become increasingly efficient at finding plans. However, this has not been paired by any corresponding improvement in detecting unsolvable instances. Such instances are obviously important but largely neglected in planning. In other areas, such as constraint solving and model checking, much effort has been spent on devising methods for detecting unsolvability. We introduce a method for detecting unsolvable planning instances that is loosely based on consistency checking in constraint programming. Our method balances completeness against efficiency through a parameter k: the algorithm identifies more unsolvable instances but takes more time for increasing values of k. We present empirical data for our algorithm and some standard planners on a number of unsolvable instances, demonstrating that our method can be very efficient where the planners fail to detect unsolvability within reasonable resource bounds. We observe that planners based on the h^m heuristic or pattern databases are better than other planners for detecting unsolvability. This is not a coincidence since there are similarities (but also significant differences) between our algorithm and these two heuristic methods.

Generalized Planning with Positive and Negative Examples

Generalized planning aims at computing an algorithm-like structure (generalized plan) that solves a set of multiple planning instances. In this paper we define negative examples for generalized planning as planning instances that must not be solved by a generalized plan. With this regard the paper extends the notion of validation of a generalized plan as the problem of verifying that a given generalized plan solves the set of input positives instances while it fails to solve a given input set of negative examples. This notion of plan validation allows us to define quantitative metrics to asses the generalization capacity of generalized plans. The paper also shows how to incorporate this new notion of plan validation into a compilation for plan synthesis that takes both positive and negative instances as input. Experiments show that incorporating negative examples can accelerate plan synthesis in several domains and leverage quantitative metrics to evaluate the generalization capacity of the synthesized plans.

Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning

We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming from an RGB camera. To do so, we introduce a complete pipeline relying on two key contributions. First, we introduce an efficient and scalable rearrangement planning method, based on a Monte-Carlo Tree Search exploration strategy. We demonstrate that because of its good trade-off between exploration and exploitation our method (i) scales well with the number of objects while (ii) finding solutions which require a smaller number of moves compared to the other state-of-the-art approaches. Note that on the contrary to many approaches, we do not require any buffer space to be available. Second, to precisely localize movable objects in the scene, we develop an integrated approach for robust multi-object workspace state estimation from a single uncalibrated RGB camera using a deep neural network trained only with synthetic data. We validate our multi-object visually guided manipulation pipeline with several experiments on a real UR-5 robotic arm by solving various rearrangement planning instances, requiring only 60 ms to compute the plan to rearrange 25 objects. In addition, we show that our system is insensitive to camera movements and can successfully recover from external perturbations.

Learning How to Ground a Plan – Partial Grounding in Classical Planning

Current classical planners are very successful in finding (nonoptimal) plans, even for large planning instances. To do so, most planners rely on a preprocessing stage that computes a grounded representation of the task. Whenever the grounded task is too big to be generated (i.e., whenever this preprocess fails) the instance cannot even be tackled by the actual planner. To address this issue, we introduce a partial grounding approach that grounds only a projection of the task, when complete grounding is not feasible. We propose a guiding mechanism that, for a given domain, identifies the parts of a task that are relevant to find a plan by using off-the-shelf machine learning methods. Our empirical evaluation attests that the approach is capable of solving planning instances that are too big to be fully grounded.

Healthy urban planning: an institutional policy analysis of strategic planning in Sydney, Australia.

Rapid urbanization requires health promotion practitioners to understand and engage with strategic city planning. This policy analysis research investigated how and why health was taken up into strategic land use planning in Sydney, Australia, between 2013 and 2018. This qualitative study develops two case studies of consecutive instances of strategic planning in Sydney. Data collection was done via in-depth stakeholder interviews (n = 11) and documentary analysis. Data collection and analysis revolved around core categories underpinning policy institutions (actors, structures, ideas, governance and power) to develop an explanatory narrative of the progress of 'health' in policy discourse over the study period. The two strategic planning efforts shifted in policy discourse. In the earlier plan, 'healthy built environments' was positioned as a strategic direction, but without a mandate for action the emphasis was lost in an economic growth agenda. The second effort shifted that agenda to ecological sustainability, a core aspect of which was 'Liveability', having greater potential for health promotion. However, 'health' remained underdeveloped as a core driver for city planning remaining without an institutional mandate. Instead, infrastructure coordination was the defining strategic city problem and this paradigm defaulted to emphasizing 'health precincts' rather than positioning health as core for the city. This research demonstrates the utility in institutional analysis to understanding positioning health promotion in city planning. Despite potential shifts in policy discourse and a more sophisticated approach to planning holistically, the challenge remains of embedding health within the institutional mandates driving city planning.

Computing programs for generalized planning using a classical planner

Generalized planning is the task of generating a single solution (a generalized plan) that is valid for multiple planning instances. In this paper we introduce a novel formalism for representing generalized plans that borrows two mechanisms from structured programming: control flow and procedure calls. On one hand, control flow structures allow to compactly represent generalized plans. On the other hand, procedure calls allow to represent hierarchical and recursive solutions as well as to reuse existing generalized plans. The paper also presents a compilation from generalized planning into classical planning which allows us to compute generalized plans with off-the-shelf planners. The compilation can incorporate prior knowledge in the form of auxiliary procedures which expands the applicability of the approach to more challenging tasks. Experiments show that a classical planner using our compilation can compute generalized plans that solve a wide range of generalized planning tasks, including sorting lists of variable size or DFS traversing variable-size binary trees. Additionally the paper presents an extension of the compilation for computing generalized plans when generalization requires a high-level state representation that is not provided a priori. This extension brings a new landscape of benchmarks to classical planning since classification tasks can naturally be modeled as generalized planning tasks, and hence, as classical planning tasks. Finally the paper shows that the compilation can be extended to compute control knowledge for off-the-shelf planners and solve planning instances that are difficult to solve without such additional knowledge.

A review of generalized planning

AbstractGeneralized planningstudies the representation, computation and evaluation of solutions that are valid for multiple planning instances. These are topics studied since the early days of AI. However, in recent years, we are experiencing the appearance of novel formalisms to compactly represent generalized planning tasks, the solutions to these tasks (calledgeneralized plans) and efficient algorithms to compute generalized plans. The paper reviews recent advances in generalized planning and relates them to existing planning formalisms, such asplanning with domain control knowledgeand approaches forplanning under uncertainty, that also aim at generality.

A projection-based reformulation and decomposition algorithm for global optimization of a class of mixed integer bilevel linear programs

We propose an extended variant of the reformulation and decomposition algorithm for solving a special class of mixed-integer bilevel linear programs (MIBLPs) where continuous and integer variables are involved in both upper- and lower-level problems. In particular, we consider MIBLPs with upper-level constraints that involve lower-level variables. We assume that the inducible region is nonempty and all variables are bounded. By using the reformulation and decomposition scheme, an MIBLP is first converted into its equivalent single-level formulation, then computed by a column-and-constraint generation based decomposition algorithm. The solution procedure is enhanced by a projection strategy that does not require the relatively complete response property. To ensure its performance, we prove that our new method converges to the global optimal solution in a finite number of iterations. A large-scale computational study on random instances and instances of hierarchical supply chain planning are presented to demonstrate the effectiveness of the algorithm.

Extracting mutual exclusion invariants from lifted temporal planning domains

We present a technique for automatically extracting mutual exclusion invariants from temporal planning instances. It first identifies a set of invariant templates by inspecting the lifted representation of the domain and then checks these templates against properties that assure invariance. Our technique builds on other approaches to invariant synthesis presented in the literature but departs from their limited focus on instantaneous actions by addressing temporal domains. To deal with time, we formulate invariance conditions that account for the entire temporal structure of the actions and the possible concurrent interactions between them. As a result, we construct a more comprehensive technique than previous methods, which is able to find not only invariants for temporal domains but also a broader set of invariants for sequential domains. Our experimental results provide evidence that our domain analysis is effective at identifying a more extensive set of invariants, which results in the generation of fewer multi-valued state variables. We show that, in turn, this reduction in the number of variables reflects positively on the performance of the temporal planners that use a variable/value representation.

Unsupervised Classification of Planning Instances

In this paper we introduce a novel approach for unsupervised classification of planning instances based on the recent formalism of planning programs. Our approach is inspired by structured prediction in machine learning, which aims at predicting structured information about a given input rather than a scalar value. In our case, each input is an unlabelled classical planning instance, and the associated structured information is the planning program that solves the instance. We describe a method that takes as input a set of planning instances and outputs a set of planning programs, classifying each instance according to the program that solves it. Our results show that automated planning can be successfully used to solve structured unsupervised classification tasks, and invites further exploration of the connection between automated planning and structured prediction.

The institutional logic of integrated care: an ethnography of patient transitions

PurposeThe purpose of this paper is to use theories of institutional logics and institutional entrepreneurship to examine how and why macro-, meso-, and micro-level influences inter-relate in the implementation of integrated transitional care out of hospital in the English National Health Service.Design/methodology/approachThe authors conducted an ethnographic case study of a hospital and surrounding services within a large urban centre in England. Specific methods included qualitative interviews with patients/caregivers, health/social care providers, and organizational leaders; observations of hospital transition planning meetings, community “hub” meetings, and other instances of transition planning; reviews of patient records; and analysis of key policy documents. Analysis was iterative and informed by theory on institutional logics and institutional entrepreneurship.FindingsOrganizational leaders at the meso-level of health and social care promoted a partnership logic of integrated care in response to conflicting institutional ideas found within a key macro-level policy enacted in 2003 (The Community Care (Delayed Discharges) Act). Through institutional entrepreneurship at the micro-level, the partnership logic became manifest in the form of relationship work among health and social care providers; they sought to build strong interpersonal relationships to enact more integrated transitional care.Originality/valueThis study has three key implications. First, efforts to promote integrated care should strategically include institutional entrepreneurs at the organizational and clinical levels. Second, integrated care initiatives should emphasize relationship-building among health and social care providers. Finally, theoretical development on institutional logics should further examine the role of interpersonal relationships in facilitating the “spread” of logics between macro-, meso-, and micro-level influences on inter-organizational change.

The significance of organizational change management for sustainable competitiveness in manufacturing: exploring the firm archetypes

The successful development and deployment of adequate sustainable manufacturing strategies are still open issues and of utmost interest for research and practice. Guided by this particular challenge, we investigate the significance of organisational change management for sustainable competitiveness in manufacturing. By using six case studies from the Lombardia region in Italy and basing our research on the theoretical constructs of competitive aggressiveness and organisational change, we discover four archetypes of companies that show an increasing sustainable competitiveness with an increasing formalism and persistence in organisational change. Our findings suggest that change management practices are conditional hypothesis for creating competitive advantage through sustainability, and implementation gaps do hinder companies in realising the full potential. The study offers guidance to stakeholders, on how change management actions may potentially affect company performance in the manufacturing sector, as well as providing direction on the impact improved planning and leadership instances can have on the sustainability performance.

Conformant planning as a case study of incremental QBF solving

We consider planning with uncertainty in the initial state as a case study of incremental quantified Boolean formula (QBF) solving. We report on experiments with a workflow to incrementally encode a planning instance into a sequence of QBFs. To solve this sequence of successively constructed QBFs, we use our general-purpose incremental QBF solver DepQBF. Since the generated QBFs have many clauses and variables in common, our approach avoids redundancy both in the encoding phase as well as in the solving phase. We also present experiments with incremental preprocessing techniques that are based on blocked clause elimination (QBCE). QBCE allows to eliminate certain clauses from a QBF in a satisfiability preserving way. We implemented the QBCE-based techniques in DepQBF in three variants: as preprocessing, as inprocessing (which extends preprocessing by taking into account variable assignments that were fixed by the QBF solver), and as a novel dynamic approach where QBCE is tightly integrated in the solving process. For DepQBF, experimental results show that incremental QBF solving with incremental QBCE outperforms incremental QBF solving without QBCE, which in turn outperforms nonincremental QBF solving. For the first time we report on incremental QBF solving with incremental QBCE as inprocessing. Our results are the first empirical study of incremental QBF solving in the context of planning and motivate its use in other application domains.