Teknologi Kecerdasan Artifisial

Kuliah Team Teaching Live Pekan 6

Planning,
Scheduling and
Optimization
Team Teaching Teknologi AI
Universitas Gunadarma @ 2021 :
1. Dr. Mohammad Iqbal
2. Dr. Nur Sultan Salahuddin
3. Dr. Raden Supriyanto
4. Dr. Sunny Arief Sudiro
5. Dr. Lily Wulandari
6. Ike Putri Kusumawijaya, ST, MMSI
 01
Agenda
Planning & Schedulling
• Tahap perencanaan dan pelaksanaannya
(schedulling) terhadap suatu penyelesaian
masalah.
03 Robot Motion Planning
• Studi kasus penyelesaian
02 Optimization masalah pergerakan robot
dalam dunia kerjannya.
• Konsep untuk mengoptimalkan
penyelesaian suatu masalah dalam AI
 Planning & Schedulling

• problem: real world differs from model

Description of Σ described by Σ
Initial State • more realistic model: interleaved planning
Planner and execution
Objectives
Execution Status Plans • plan supervision
• plan revision
Controller
• re-planning
Observations Actions • dynamic planning: closed loop between
System Σ planner and controller
• execution status
Events
 Planning & Schedulling
Planner Reference Applications

STRIPS Fikes & Nilsson 1971 Mobile Robot Control, etc.

HACKER Sussman 1973 Simple Program Generation

NOAH Sacerdoti 1977 Mechanical Engineers Apprentice Supervision

NONLIN Tate 1977 Electricity Turbine Overhaul, etc.

NASL McDermott 1978 Electronic Circuit Design

OPM Hayes-Roth & Hayes-Roth 1979 Journey Planning

ISIS-II Fox et. al. 1981 Job Shop Scheduling (Turbine Production)

MOLGEN Stefik 1981 Experiment Planning in Molecular Genetics

DEVISER Vere 1983 Spacecraft Mission Planning

FORBIN Miller et al. 1985 Factory Control

SIPE/SIPE-2 Wilkins 1988 Crisis Action Planning, Oil Spill Management, etc.

SHOP/SHOP-2 Nau et al. 1999 Evacuation Planning, Forest Fires, Bridge Baron, etc.

I-X/I-Plan Tate et al. 2000 Emergency Response, etc.

 Planning & Schedulling

O-Plan 3 Levels of Agents:

Task Assignment, Planning & Execution

Capabilities Capabilities Capabilities

Task Assigner Planner Executor
Constraints Constraints Constraints
Plan State Plan State Plan State
Domain Info Domain Info Domain Info
 Planning & Schedulling- Multiple Agents
Context
Multiple-Agent Platforms behind some
Practical AI Planners
• Multiple Planning Agents (MPA) platform is the basis for the SRI
International SIPE (System for Interactive Planning and
Execution) Planner.
• The Open Planning Architecture is the basis for O-Plan and is
designed to handle multiple planner roles and levels, such as
task assigner, planner, planning specialists, plan execution
• I-X is intended to support multiple types of command, sense-
making, analysis, planning (I-Plan), decision making, execution
and communications agents even in mixed agent frameworks.
 Planning & Schedulling - Multiple Agents in the Context of
Communications for Emergency Response

Central
Collaboration and Authorities
Communication

Command
and Control
Emergency
Responders

Isolated
Personnel
Planning & Schedulling - Example I-X Multiagent
Applications
Planning & Schedulling - Example I-X Multiagent
Applications
 Applications
Planning & Schedulling - Example I-X Multiagent

Adapted from H. Kitano and S. Tadokoro, RoboCup Rescue A Grand

Challenge
for Multiagent and Intelligent Systems, AI Magazine, Spring, 2001.
Planning & Schedulling - Context of Plan Representation & Use

• Plan representation itself an important area.

• Plans are used in many areas beyond activity planning …

such as situation understanding and summarisation,
natural language interpretation and generation, etc.

• Plans provide an ontological and formal representation

core for a wide range of practical applications and uses.
Planning & Schedulling - Context of Plan Representation & Use

Knowledge User
Acquisition Communication

Plan Representation

Formal System
Analysis Manipulation
Planning & Schedulling - Context of Plan Representation & Use

• AI planning work has influenced standards

related to process and plan representations
used by many industries and fields. E.g.,

• MIT Process Handbook Process Interchange Format (PIF)

• NIST Process Specification Language (PSL)
• DARPA Shared Planning & Activity Representation (SPAR)
• ISO 18629 Industrial Automation Systems and Integration -
Process Specification Language
 Planning & Schedulling – Example Practical Planner
Planner Reference Applications

STRIPS Fikes & Nilsson 1971 Mobile Robot Control, etc.

HACKER Sussman 1973 Simple Program Generation

NOAH Sacerdoti 1977 Mechanical Engineers Apprentice Supervision

NONLIN Tate 1977 Electricity Turbine Overhaul, etc.

NASL McDermott 1978 Electronic Circuit Design

OPM Hayes-Roth & Hayes-Roth 1979 Journey Planning

ISIS-II Fox et. al. 1981 Job Shop Scheduling (Turbine Production)

MOLGEN Stefik 1981 Experiment Planning in Molecular Genetics

DEVISER Vere 1983 Spacecraft Mission Planning

FORBIN Miller et al. 1985 Factory Control

SIPE/SIPE-2 Wilkins 1988 Crisis Action Planning, Oil Spill Management, etc.

SHOP/SHOP-2 Nau et al. 1999 Evacuation Planning, Forest Fires, Bridge Baron, etc.

I-X/I-Plan Tate et al. 2000 Emergency Response, etc.

 Planning & Schedulling – Example Practical Planner
Nonlin (1974-1977)
• Hierarchical Task Network Planning
• Partial Order Planner
• Plan Space Planner
• Goal structure-based plan development – only considers alternative
“approaches” based on plan rationale
• QA/“Modal Truth Criterion” condition achievement
• Condition “types” to limit search
• Allows for multiple “contributors” to achieve facts for plan robustness
• “Compute Conditions” for links to external data bases and systems
(attached procedures)
• Operations Research algorithms for time and resource constraints
• Nonlin core is a basis for text book descriptions of HTN Planning
 Planning & Schedulling – Example Practical Planner

O-Plan (1983-1999) Features

• Domain knowledge elicitation and modelling tools
• Rich plan representation and use
• Hierarchical Task Network Planning
• Detailed constraint management
• Goal structure-based plan monitoring
• Dynamic issue handling
• Plan repair in low and high tempo situations
• Interfaces for users with different roles
• Management of planning and execution workflow
 Planning & Schedulling – Example Practical Planner
O-Plan Unix Sys Admin Aid
Planning & Schedulling – Example Practical Planner
O-Plan MOUT Task Description,
Planning and Workflow Aids
 Planning & Schedulling – Example Practical Planner
Optimum-AIV
Optimum-AIV is in use by the European Space Agency (ESA) for Assembly, Integration and
Verification (Test) planning for the Ariane Rocket payload bay. Its design was based on O-Plan
algorithms and earlier development of an AI planner for the ERS-1 Spacecraft.
 Planning & Schedulling – Example Practical Planner

Optimum-AIV (1992-4) Features

• Based on O-Plan design
• Rich plan representation and use
• Hierarchical Task Network (HTN) Planning
• Detailed constraint management
• Plan and User rationale recorded
• Dynamic issue handling
• Plan repair using test failure recovery plans
• Integration with ESA’s Artemis Project Management System
 Planning & Schedulling – Example Practical Planner

Typical Features of Practical AI Planners

• Hierarchical Task Network (HTN) Planning
• Partial Order Planning (POP)
• Rich domain model
• Detailed constraint management, simulations and analyses
• Integration with other systems (user interfaces, databases,
spreadsheets, project management systems, etc).
 Planning & Schedulling – Planning++
Planning Research Areas & Techniques
– Domain Modelling HTN, SIPE – Plan Repair O-Plan
– Domain Description PDDL, NIST PSL – Re-planning O-Plan
– Domain Analysis TIMS – Plan Monitoring O-Plan, IPEM

– Plan Generalisation Macrops, EBL

– Search Methods Heuristics, A* – Case-Based Planning CHEF,
– Graph Planning Algtms GraphPlan PRODIGY
– Partial-Order Planning Nonlin, UCPOP – Plan Learning SOAR, PRODIGY
– Hierarchical Planning NOAH, Nonlin, – User Interfaces SIPE, O-Plan
O-Plan – Plan Advice
– Refinement Planning Kambhampati SRI/Myers
– Opportunistic Search OPM – Mixed-Initiative Plans
– Constraint Satisfaction CSP, OR, TMMS TRIPS/TRAINS
– Optimisation Method NN, GA, Ant – Planning Web Services O-Plan, SHOP2
Colony Opt
– Issue/Flaw Handling O-Plan – Plan Sharing & Comms I-X, <I-N-C-A>
– NL Generation …
– Plan Analysis NOAH, Critics – Dialogue Management …
– Plan Simulation QinetiQ
– Plan Qualitative Modelling Excalibur
 Planning & Schedulling – Planning++
Planning Research Areas & Techniques
– Domain Modelling HTN, SIPE – Plan Repair O-Plan
– Domain Description PDDL, NIST PSL – Re-planning O-Plan
– Domain Analysis TIMS – Plan Monitoring O-Plan, IPEM

– Plan Generalisation Macrops, EBL

– Search Methods Heuristics, A* – Case-Based Planning CHEF,
– Graph Planning Algtms GraphPlan PRODIGY
– Partial-Order Planning Nonlin, UCPOP – Plan Learning SOAR, PRODIGY
– Hierarchical Planning NOAH, Nonlin, – User Interfaces SIPE, O-Plan
O-Plan – Plan Advice
– Refinement Planning Kambhampati SRI/Myers
– Opportunistic Search OPM – Mixed-Initiative Plans
– Constraint Satisfaction CSP, OR, TMMS TRIPS/TRAINS
– Optimisation Method NN, GA, Ant – Planning Web Services O-Plan, SHOP2
Colony Opt
– Issue/Flaw Handling O-Plan – Plan Sharing & Comms I-X, <I-N-C-A>
– NL Generation …
– Plan Analysis NOAH, Critics – Dialogue Management …
– Plan Simulation QinetiQ
– Plan Qualitative Modelling Excalibur Deals with whole
life cycle of plans
 Planning & Schedulling – Planning++
A More Collaborative Planning Framework
• Human relatable and presentable objectives, issues, sense-making,
advice, multiple options, argumentation, discussions and outline plans for
higher levels
• Detailed planners, search engines, constraint solvers, analyzers and
simulators act in this framework in an understandable way to provide
feasibility checks, detailed constraints and guidance
• Sharing of processes and information about process products between
humans and systems
• Current status, context and environment sensitivity
• Links between informal/unstructured planning, more structured planning
and methods for optimisation
 Planning & Schedulling – Planning++

I-X/I-Plan (2000- )
• Shared, intelligible, easily communicated and extendible
conceptual model for objectives, processes, standard operating
procedures and plans:
• I Issues
• N Nodes/Activities
• C Constraints
• A Annotations
• Communication of dynamic status and presence for agents,
and their collaborative processes and process products
• Context sensitive presentation of options for action
• Intelligent activity planning, execution, monitoring, re-planning
and plan repair via I-Plan and I-P2 (I-X Process Panels)
 Planning & Schedulling – Planning++
I-X aim is a Planning, Workflow and Task Messaging “Catch All”
• Can take ANY requirement to:
• Handle an issue
• Perform an activity
• Respect a constraint
• Note an annotation

• Deals with these via:

• Manual activity
• Internal capabilities
• External capabilities
• Reroute or delegate to other panels or agents
• Plan and execute a composite of these capabilities (I-Plan)

• Receives reports and interprets them to:

• Understand current status of issues, activities and constraints
• Understand current world state, especially status of process products
• Help user control the situation

• Copes with partial knowledge of processes and organisations

 Planning & Schedulling – Planning++
Process Panel
Domain Editor Map Tool
I-X for Emergency Response

3
Messenger I-Plan
 Planning & Schedulling – Searching Algortihm

Searching for schedulling

• Uninformed Search
– Use no information obtained from the environment
– Blind Search: BFS (Wavefront), DFS
• Informed Search
– Use evaluation function
– More efficient
– Heuristic Search: A*, D*, etc.

2
 Planning & Schedulling – Searching Algortihm

Searching for schedulling

• DFS –Depth First Search Algorithm
• BFS – Breadth Firs Search Algorithm
• etc

1
 Planning & Schedulling – Planning++

Summary
• Context of Practical Sysetms
• Context of Task Assignment & Execution
• Context of Multiple Agents
• Context of Plan Representation & Use
• Example Practical Planners
• Planning++
• Searching Algorithm for Schedulling
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Segmen 2 – Optimization !!!
Optimazation– Concepts  Definition
Optimazation– Concepts  Definition
Optimazation– Concepts – Type of Opt. Technique
Optimazation– Concepts – Type of Opt. Technique
Optimazation– Concepts – Type of Opt. Technique
 Optimazation– Concepts

Real World Problems

Nonlinear Complicated
Optimization Objective Function Possible Solution:
Search Algorithm

Analytical Solution
Optimazation– Concepts
Optimazation– Search Algorithm
Optimazation – Direct Search Alg …
Optimazation– Direct Search Alg …
Optimazation – Direct Search Alg …
Optimazation – Direct Search Alg …
Optimazation – Direct Search Alg …
Optimazation – Direct Search Alg …
Optimazation – Indirect Search Alg …
Optimazation – Indirect Search Alg …
Optimazation – Indirect Search Alg …

3
Optimazation – Indirect Search Alg …

2
Optimazation – Constrained Optimazation …

1
Optimazation – Summary

0
Segmen 3 – Robot Motion Planning !!!
 Robot Motion Planning

• A mobile robot needs to navigate:

– Navigation is carrying out locomotion primitives
to move between points
– Navigation includes avoiding obstacles.
• We need to define:
– The state – a model of the environment
– The actions – a model of the robot’s motion
primitives
• State space and Action space are continuous
Robot Motion Planning
Robot Motion Planning
Robot Motion Planning
Robot Motion Planning - PRM
Robot Motion Planning - PRM
Robot Motion Planning - PRM
Robot Motion Planning - PRM
Robot Motion Planning - PRM
Robot Motion Planning - PRM
Robot Motion Planning - PRM
Robot Motion Planning - PRM
Robot Motion Planning – PRM Discussion
Robot Motion Planning - RTT
Robot Motion Planning – RRT Basic Example
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT
Robot Motion Planning - RRT

3
Robot Motion Planning - RRT

2
Robot Motion Planning - Motion Planning

1
 Robot Motion Planning

Thanks to :

1. Dr. Mohammed M. Nasef, “Optimization Problems and Algorithms”, Workshop on Intelligent System
and Applications (ISA’17), Faculty of Computers and Informatics, Benha University, 2017.
2. D Nagesh Kumar, “ Avanced Topics in Optimization: Direct and Indiret Search”, Indian Institute of
Science, 2007.
3. Manuela M. Veloso, “Robot Motion Planning Under Uncertainty “, Carnegie Mellon University
School of Computer Science, 2016.

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 PENUTUP

Planning, Schedulling dan Optimization

adalah pendekatan-pendekatan yang
digunakan dalam menyelesaikan
masalah menggunakan AI