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Using Constrained Horn Clauses for Hierarchical Planning
Kažimír, Marián ; Blicha, Martin (advisor) ; Pantůčková, Kristýna (referee)
Title: Using Constrained Horn Clauses for Hierarchical Planning Author: Marián Kažimír Department: Department of Distributed and Dependable Systems Supervisor: Mgr. Martin Blicha, Department of Distributed and Dependable System Abstract: HTN planning is a popular approach to modelling planning problems. The goal of this project is to implement a HTN solver based on translating the planning problem to a reachability problem in a transition system and using off-the-shelf reachability solver for the actual solving. Keywords: Hierarchical Task Networks Planning problem Solver Transition sys- tem Constrained Horn Clauses
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Compilation-based Approaches for Automated Planning
Pantůčková, Kristýna ; Barták, Roman (advisor) ; Chrpa, Lukáš (referee)
One of the possible approaches to automated planning is compilation to sat- isfiability or constraint satisfaction. Compilation enables to take advantage of the advancement of SAT or CSP solvers. In this thesis, we implement three of the encodings recently proposed for compilation of planning problems: the model TCPP, the R2 ∃-Step encoding and the Reinforced Encoding. All these approaches search for parallel plans; however, since they use different definitions of parallel step and different variables and constraints, we decided to compare their per- formance on standard benchmarks from international planning competitions. As the R2 ∃-Step encoding was not suitable for our implementation, we present a mod- ified version of this encoding with a reduced number of variables and constraints. We also demonstrate how different definitions of parallel step in the Reinforced Encoding affect the performance. Furthermore, we suggest redundant constraints extending these encodings. Although they did not prove to be beneficial in gen- eral, they could slightly improve the performance on some benchmarks, especially in the R2 ∃-Step encoding.
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Optimization of a circulating multi-car elevator system
Pantůčková, Kristýna ; Fink, Jiří (advisor) ; Matzner, Filip (referee)
Circulating multi-car elevator is a system holding multiple cars in two shafts, where cars move upwards in one shaft and downwards in the other shaft. This system is similar to the paternoster, but cars have to stop on floors and open doors to load and unload passengers. Besides many technical challenges, this sys- tem brings algorithmic problems regarding efficient control of all cars. This thesis studies an off-line optimization problem, where the most efficient elevator system is searched for a fixed set of passengers. For this purpose, we created a computer program, implementing a genetic algorithm for searching for the most efficient elevator control and a discrete event simulation for evaluation of the efficiency of the control. The program provides a graphical user interface for input of parame- ters, generating passengers and displaying the results. 1
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