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Online Publications and Talks

David E. Smith / home page/


2012

Planning as an Iterative Process, D. Smith, Twenty-Sixth Conference on Artificial Intelligence (AAAI-12), 2012 [pdf 246K]

2011

Planning from Head to Toe, D. Smith, AAAI-11 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR), 2011 [pdf 3.2M]

The Emergency Landing Planner Experiment, N. Meuleau, C. Neukom, C. Plaunt, D. Smith, & T. Smith, ICAPS-11 Scheduling and Planning Applications Workshop (SPARK), 2011 [pdf 2.1M]

Finding Mutual Exclusion Invariants in Temporal Planning Domains, S. Bernardini & D. Smith Seventh International Workshop on Planning and Scheduling for Space (IWPSS), 2011 [pdf 576K]. A slightly shorter version appears in ICAPS-11 Knowledge Engineering for Planning and Scheduling Workshop (KEPS)

2010

Thinking Outside the "Box", D. Smith, ICAPS-10 Panel on The Present and Future(s) of Planning [ppt 4.4M]

A POMDP for Optimal Motion Planning with Uncertain Dynamics, N. Meuleau, C. Plaunt, D. Smith, & T. Smith, ICAPS-10 POMDP Practitioners Workshop: solving real-world POMDP problems, 2010 [pdf 472K]

Translating PDDL into NDDL, D. Smith & S. Bernardini, [pdf 1.5M]

2009

A Comparison of Risk Sensitive Path Planning Methods for Aircraft Emergency Landing, N. Meuleau, C. Plaunt, D. Smith, & T. Smith, ICAPS-09 Workshop on Bridging the Gap Between Task and Motion Planning (BTAMP), 2009 [pdf 284K]

Towards Search Control via Dependency Graphs in Europa2, S. Bernardini & D. Smith, ICAPS-09 Workshop on Heuristics for Domain-Independent Planning (HDIP), 2009 [pdf 224K]

An Emergency Landing Planner for Damaged Aircraft, N. Meuleau, C. Plaunt, D. Smith, & T. Smith, Twenty-First Innovative Applications of Artificial Intelligence Conference (IAAI-09), 2009 [pdf 644K]

2008

Emergency Landing Planning for Damaged Aircraft, N. Meuleau, C. Plaunt & D. Smith, ICAPS-08 Scheduling and Planning Applications Workshop (SPARK) [pdf 264K]

ATHLETE’s Feet: Multi-Resolution Planning for a Hexapod Robot, T. Smith,
J. Barreiro , D. Smith, Vytas SunSpiral & Daniel Chavez-Clemente, ICAPS-08 Scheduling and Planning Applications Workshop (SPARK) [pdf 1.4M]

Translating PDDL2.2. into a Constraint-based Variable/Value Language, S. Bernardini & D. Smith, ICAPS-08 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS) [pdf 256K]

The ANML Language, D. Smith,
J. Frank & W. Cushing, ICAPS-08 Poster Session [pdf 200K]

Automatically Generated Heuristic Guidance for Europa2, S. Bernardini & D. Smith, Proc. 9th International Symposium on AI, Robotics, and Automation in Space (iSAIRAS-08) [pdf 220K]

Describes methods for incorporating domain-independent search control into the Europa2 planning system developed and used at NASA ARC.

Sequential Monte Carlo in Reachability Heuristics for Probabilistic Planning, D. Bryce, S. Kambhampati & D. Smith, Artificial Intelligence 72 (6–7), pages 685-715, 2008. Preprint: [pdf 1M]. DOI link: http://dx.doi.org/10.1016/j.artint.2007.10.018

Describes the use of Monte Carlo techniques for estimating cost in probabilistic planning.

2007

Planning Formalisms Commentary, D. Smith, ICAPS-07 Planning Formalisms Session Commentary [pdf 260K]

A graphical depiction of some of the different translations that have been done between different planning formalisms.

Probabilistic Temporal Planning, Mausam, D. Smith & S. Thiébaux, ICAPS-07 Tutorial [pdf 6.8M]

A survey of recent techniques and results for dealing with concurrency and time in probabilistic planning.

Developing Domain-Independent Search Control for Europa2, S. Bernardini & D. Smith, ICAPS-07 Workshop on Heuristics for Domain-independent Planning: Progress, Ideas, Limitations, Challenges [pdf 204K]

Describes methods for incorporating domain-independent search control into the Europa2 planning system developed and used at NASA ARC.

The Perils of Discrete Resource Models, W. Cushing & D. Smith, ICAPS-07 Workshop on International Planning Competition: Past, Present and Future [pdf 252K]

Describes difficulties and methods for modeling resource usage as discrete change.

Preventing Unrecoverable Failures through Precautionary Planning, J. Foss, N. Onder & D. Smith, ICAPS-07 Workshop on Moving Planning and Scheduling Systems into the Real World [pdf 244K]

Describes a method for doing incremental contingency planning in the context of replanning.

2006

Using Interaction to Compute Better Probability Estimates in Plan Graphs, D. Bryce & D. Smith, ICAPS-06 Workshop on Planning Under Uncertainty and Execution Control for Autonomous Systems, 2006. (Revised version - older version printed in proceedings.) [pdf 252K]

Describes method for keeping track of interaction and synergy between propositions in a Plan Graph to get better heuristic probability estimates 

Sequential Monte Carlo for Probabilistic Planning Reachability Heuristics, D. Bryce, S. Kambhampati, & D. Smith, 16th Intl. Conf. on Automated Planning & Scheduling (ICAPS-06), 2006. [pdf 204K]

Describes a Plan Graph heuristic method using Monte Carlo Simulation to guide search in probabilistic planning

Planning Graph Heuristics for Belief Space Search, D. Bryce, S. Kambhampati, & D. Smith, Journal of Artificial Intelligence Research 26, pages 35-99, 2006. [pdf 636K]

Develops and investigates heuristics for guiding belief space search using a Labelled Uncertainty Graph

Field Demonstration of Surface Human-Robotic Exploration Activity, L. Pedersen, W. Clancey, M. Sierhaus, N. Muscettola, D. Smith, D. Lees, K. Rajan, S. Ramakrishnan, P. Tompkins, A. Vera. T. Dayton. Proc. AAAI 2006 Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before, 2006. [pdf 1.2M]

Describes field demonstration of interactive commanding, planning and execution of tasks for human-robotic exploration

2005

Simulation-Based Planning for Planetary Rover Experiments, D. Joslin,
J. Frank, A. Jónsson, D. Smith. Proc. 2005 Winter Simulation Conf., 2005. [pdf 960K]

Oversubscription planning by searching in the space of plan strategies

Mission Planning and Target Tracking for Autonomous Instrument Placement, L. Pedersen, D. Smith, M. Dean , R. Sargent, C. Kunz, D. Lees & S. Rajagopalan. Proc. 2005 IEEE Aerospace Conf., 2005. [pdf 1.7M]

Describes methods for planning and target tracking for rover instrument placement

Multiple-Target Single Cycle Instrument Placement, L. Pedersen, M. Deans, D. Lees, S. Rajagopalan, & D. Smith, Proc. Eighth International Symposium on AI, Robotics, and Automation in Space (iSAIRAS-05), Munich, Sept, 2005. [pdf 1.5M]

Description of an integrated rover demonstration.

2004

Planning in Belief Space with a Labeled Uncertainty Graph, D. Bryce, S. Kambhampati, & D. Smith, Proc. AAAI-04 Workshop on Learning and Planning in Markov Processes -- Advances and Challenges, 2004. [pdf 200K]

Describes a compact encoding of plan graphs for multiple possible worlds in a single labeled plan graph

Choosing Objectives in Over-Subscription Planning, D. Smith. Proc. 14th Intl. Conf. on Automated Planning & Scheduling (ICAPS-04), 2004. [pdf 200K]

Describes a method for generating and solving an Orienteering Problem to choose the subset of goals for an oversubscription problem

2003

The Case for Durative Actions: a commentary on PDDL2.1, D. Smith. Journal of Artificial Intelligence Research 20, 2003.  [pdf 20K]

Critique of condition/effect restrictions for durative actions in PDDL2.1

The Next Challenges for AI Planning, D. Smith. Lecture given at the Planet International Summer School, Madonna di Campiglio, Italy, June 2003. [powerpoint 20M]

Presentation of six technical challenges for AI planning, motivated by NASA planning problems

Optimal Limited Contingency Planning, N. Meuleau & D. SmithProc. UAI-03 & ICAPS-03 Workshop on Planning under Uncertainty, Trento, Italy, June 2003. [pdf 160K]

Describes a layered POMDP approach to producing optimal plans having a limited number of conditional branches.

Incremental Contingency Planning, R. Dearden, N. Meuleau, S. Ramakrishnan, D. Smith, & R. Washington. Proc. ICAPS-03 Workshop on Planning under Uncertainty, Trento, Italy, June 2003. Paper: [pdf 116K] Presentation: [powerpoint 2.3M]

Outlines an approach to contingency planning with uncertainty in action duration and continuous resources. Updated version of "Contingency Planning for Planetary Rovers".

Interleaved Observation Execution and Rescheduling on Earth Observing Systems, L. Khatib, J. Frank, R. Morris, D. Smith & J. Dungan.  Proc. ICAPS-03 Workshop on Plan Execution, Trento, Italy, June 2003. [pdf 184K]

Describes an incremental approach to onboard rescheduling of satellite observations.

Integrated Demonstration of Instrument Placement, Robust Execution and Contingency Planning, L. Pedersen, M. Bualat, D. Lees, D. Smith, & R. Washington, Proc. Seventh International Symposium on AI, Robotics, and Automation in Space (iSAIRAS-03), Japan, May, 2003. [pdf 1.4M]

Description of an integrated rover demonstration.

2002

Contingency Planning for Planetary Rovers, R. Dearden, N. Meuleau, S. Ramakrishnan, D. Smith, & R. Washington.  Proc. Third International NASA Workshop on Planning & Scheduling for Space, Houston, Texas, October 2002. [pdf 132K]

Outlines an approach to contingency planning with uncertainty in action duration and continuous resources.

Planning Under Continuous Time and Resource Uncertainty: A Challenge for AI, J. Bresina, R. Dearden, N. Meuleau, S. Ramakrishnan, D. Smith, & R. Washington.  Proc. UAI-02, Edmonton, Alberta, July 2002. Paper: [pdf 1700K]   AIPS-02 workshop presentation: [powerpoint 1400K]

A challenge paper describing planning problems with uncertainty in action duration and continuous resources .

The Logic of Reachability, D. Smith & Ari Jónsson.  Proc. Sixth International Conference on AI Planning and Scheduling (AIPS-02), Toulouse, France, April 2002. [pdf 116K].  AIPS-02 presentation: [powerpoint 1M]

Formalization and extension of the notions of reachability and mutual exclusion to actions where preconditions and effects can hold over arbitrary intervals, and exogenous events can occur.

Fragment-based Conformant Planning, J. Kurien, P. Nayak, & D. SmithProc. Sixth International Conference on AI Planning and Scheduling (AIPS-02), Toulouse, France, April 2002.
[pdf 108K].   AIPS-02 presentation: [powerpoint 1.8M]

Describes an incremental method of conformant planning that finds plans in one possible world and tries to extend them to work in subsequent possible worlds.

2001

Planning and Scheduling for Fleets of Earth Observing Satellites, J. Frank, A. Jónsson, R Morris, & D. Smith, Proc. Sixth International Symposium on AI, Robotics, and Automation in Space (iSAIRAS-01), June, 2001. [pdf 96K]

Description of system for scheduling observations on fleets of satellites.

The Prospects for Real Planning, D. Smith.  Invited talk at DX01: Twelfth Internationa Workshop on Principles of Diagnosis, Sansicario, Via Lattea, Italy, March 2001. [powerpoint 1000K]

An introduction to some of the important advances made in "Classical Planning" in the last few years.  A written version of much of this material can be found in the paper Bridging the Gap Between Planning and Scheduling, listed below.

2000

Coping with Time and Continuous Quantities, D. Smith.  Invited talk at Fifth International Conference on AI Planning and Scheduling (AIPS-00), Breckenridge, Colorado, April 2000. [powerpoint 387K]

A critical overview of generative planning techniques for dealing with continuous time and resources.  A written version of the material for this talk can be found in Section 4 of the paper Bridging the Gap Between Planning and Scheduling, listed below.

Bridging the Gap Between Planning and Scheduling, D. Smith, J. Frank, & A. Jónsson, Knowledge Engineering Review 15:1, 2000. [pdf 129K]

A critical overview of AI planning and scheduling techniques from a spacecraft applications point of view.

1999

Temporal Planning with Mutual Exclusion Reasoning, D. Smith & D. Weld, Proc. Sixteenth International Joint Conference on Artificial Intelligence (IJCAI-99), Stockholm, Sweden, 1999. [pdf 194K]

Develops a Graphplans-style algorithm that works for actions with arbitrary duration.

Increasaed Flexibility and Robustness of Mars Rovers, J. Bresina, K. Golden, D. Smith, & R. Washington, Proc. Fifth International Symposium on AI, Robotics, and Automation in Space (iSAIRAS-99), June, 1999. [pdf 258K]

Description of the Contingent Rover Language (CRL), ground tools, and on-board executive developed and used for a Feb 99 Marsokhod rover field test.

Autonomous Rovers for Mars Exploration, R. Washington, J. Bresina, K. Golden, D. Smith, C. Anderson & T. Smith, Proc. 1999 IEEE Aerospace Conference, Aspen, CO, 1999. [pdf 323K]

Overview and advocacy of an architecture for increasing the autonomy of future Mars rovers.

1998

Incremental Graphplan, D. Smith & D. Weld, Technical Report UW-CSE-98-09-06, Dept. of Computer Science and Engineering, University of Washington, 1998. [pdf 94K]

Technical note that describes a more compact way of building a plan graph. This incremental method avoids a great deal of duplicated work during graph expansion.

Autonomous Rovers for Human Exploration of Mars, J. Bresina, G. Dorais, K. Golden, D. Smith & R. Washington, Proc. Mars Society Founding Convention, Boulder, CO, 1998. [pdf 191K]

Overview and advocacy of an architecture for increasing the autonomy of future Mars rovers.

Extending Graphplan to Handle Uncertainty and Sensing Actions, D. Weld, C. Anderson & D. Smith, Proc. Sixteenth National Conference on Artificial Intelligence (AAAI-98), Madison, WI, 1998. [pdf 188K]

Describes a possible worlds approach to incorporating sensory actions and contingency branches into the Graphplan framework. We recommend you read the Conformant Graphplan paper first.

Conformant Graphplan, D. Smith & D. Weld, Proc. Sixteenth National Conference on Artificial Intelligence (AAAI-98), Madison, WI, 1998. [pdf 44K]

Describes a possible worlds approach to doing conformant or "fail-safe" planning in the Graphplan framework.

Conditional Effects in Graphplan, C. Anderson, D. Smith & D. Weld, Proc. Fourth International Conference on AI Planning Systems (AIPS-98), Pittsburgh, PA, 1998. [pdf 203K]

Describes a way of treating conditional effects and quantification (ADL operators) in Graphplan.

1996

Suspending Recursion in Causal-link Planning, D. Smith & M. Peot, Proc. Third International Conference on AI Planning Systems (AIPS-96), Edinburgh, Scotland, 1996. [pdf 55K]

Presents a strategy for suspending and pruning recursive open conditions during POCL planning.

Constraint Management Methodology for Conceptual Design Tradeoff Studies, S. Reddy, K. Fertig, & D. Smith, Proc. 1996 ASME Design Engineering Technical Conferences and Computers in Engineering Conference, Irvine, California, 1996. [pdf 247K]

Description of Design Sheet and use of the system for performing tradeoff studies on a thermal imaging performance model developed for the DARPA MADE program.

1995

Representation and Evaluation of Plans with Loops, D. Smith & M. Williamson, Working Notes of the AAAI Spring Symposium on Extended Theories of Action: Formal Theory and Practical Applications, Stanford, CA, 1995. [pdf 20K]

Describes a hybrid AI/Markov chain approach to evaluating the expected cost and probability of success for plans with conditional branches and loops.

1994

Decision-Theory for Crisis Management, M. Goldszmidt, A. Darwiche, T. Chavez, D. Smith & J. White, Technical Report RL-TR-94-235, Rome Laboratory, 1994. [pdf 331K]

Final report for Rockwell's phase 1 ARPA planning initiaive contract. Contains brief descriptions of a variety of work. My part contains brief descriptions of 1) conditional partial-order planning, 2) use of operator graphs to determine operator relevance, 3) a variable analysis technique for operator graphs, 4) a least comittment open condition ordering technique, 5) recursion analysis techniques, 6) threat postponement analysis, 7) threat resolution strategies, and 8) an operator graph mechanism for partial plan evaluation.

1993

A Note on the DMIN Strategy, D. Smith & M. Peot [pdf 7K]

Unpublished addendum to the paper Threat Removal Strategies in Partial-Order Planning. Describes an additional delay strategy reported in the talk at AAAI 93.

Threat-Removal Strategies for Partial-Order Planning, M. Peot & D. Smith, Proc. Eleventh National Conference on Artificial Intelligence (AAAI-93), Washington D.C., 1993. [pdf 50K]

Compares several different strategies for when to resolve threats in partial-order planning. Describes a strategy DSEP that provably dominates the strategy used in SNLP.

Postponing Conflicts in Partial-Order Planning, D. Smith & M. Peot, Proc. Eleventh National Conference on Artificial Intelligence (AAAI-93), Washington D.C., 1993. [pdf 46K]

Describes a method for analyzing the operators, goal and initial conditions for a planning problem to determine which threats can be ignored during the planning process. An abbreviated version of this paper appeared in the AAAI Spring Symposium on the Foundations of Automated Planning: The Classical Approach and Beyond, Stanford, CA 1993.

1992

Conditional Nonlinear Planning, M. Peot & D. Smith, Proc. First International Conference on AI Planning Systems (AIPS-92), College Park, Maryland, 1992. [pdf 40K]

Introduces and explains an algorithm for conditional partial-order planning.

A Critical Look at Knoblock's Hierarchy Mechanism, D. Smith & M. Peot, Proc. First International Conference on AI Planning Systems (AIPS-92), College Park, Maryland, 1992. [pdf 13K]

Shows examples and explains why Knoblocks hierarchy mechanism can produce arbitrarily poor open condition orderings.

Design Sheet: An Environment for Facilitating Flexible Trade Studies during Conceptual Design, M. Buckley, K. Fertig, & D. Smith, Proc. 1992 Aerospace Design Conference, American Institute of Aeronautics and Astronautics (AIAA), 1992. [pdf 206K]

Description of Design Sheet and the basic graph algorithms it uses to: 1) recognize when variables are determined, 2) decide what simultaneous systems of equations must be solved, and 3) determine the best iteration variables for numerical solution of simultaneous systems of nonlinear equations.

1988

Reasoning about action II: the qualification problem, M. Ginsberg & D. Smith, Artificial Intelligence 35(3), pages 311-342, 1988. [pdf 225K]

Reasoning about action I: a possible worlds approach, M. Ginsberg & D. Smith, Artificial Intelligence 35(2), pages 165-195, 1988. Reprinted in Readings in Nonmonotonic Reasoning, pages 433-463, Morgan Kaufmann, 1987. [pdf 245K]


David E. Smith / home page/


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