5 PGP Flashcards
1
Q
Partial Global Planning (PGP)
A
- Distributed planning technique
- Integrates planning and execution
- Dynamic domains with unpredictable, unreliable information
- The tasks are inherently distributed and each agent performs its own task
- The agents are not aware of the global state of the system; however, there is a common goal
Initially applied in the Distributed Vehicle Monitoring (DVM) problem: converge on a consistent map of vehicle movements by integrating the partial information gathered by different agents into a single complete map
2
Q
PGP
Difficulties
A
- Noisy data
- Sensor overlap implies possible processing duplication
- Workloads vary heavily dynamically due to vehicle movements
- Complexity, management of data structures, agents with reasoning capabilities
- Initial version exclusively adapted to the Distributed Vehicle Monitoring problem
Generalisation: GPGP
3
Q
PGP
Benefits
A
+++ Suitable for Systems with highly dynamic behavior
All plans can be adapted to dynamic changes in the environment => flexibility
However, if an agent changes its local plan, it has to inform other agents (e.g. those that were waiting for a partial result)
+++ Efficiency
If different agents work on the same/similar subproblems, they will notice that fact in their local plans and reassign their tasks appropriately
4
Q
PGP
Phases
A
- Create local plans of each agent
- Exchange local plans
- Generate Partial Global Plans
- Optimize Partial Global Plans
