>> It's not the first time us two have this kind of discussion.
Oh, I think I remember us talking about ILP. Sorry, I didn't recognise your username. Without avatars on HN I find it hard to remember who I've interacted with. I don't think we had talked about robotics or planning though.
Anyway now I'll remember you :)
>> Sure. That's the replanning. But actually you could backtrack into a plan you've already got that has the same prefix as the plan you've already chosen. Presumably a different plan differs from exactly this position and avoids the obstacle that made the current plan fail at that point. You'd have to keep track of the movements you've done. But as the plans are generated lazily, both concepts ('replanning' and 'choosing one of the original plans that hasn't been "superseded by reality" yet') might actually be the same.
I think I see what you mean. There's certainly a problem with backtracking all the way to the point where a plan failed only to pick up again from that point- and probably fail again. I don't think I can reason about this from first principles. I'd have to try it out and see what works and what doesn't.
EDIT: I went back and found our previous discussion. Hi again.
Oh, I think I remember us talking about ILP. Sorry, I didn't recognise your username. Without avatars on HN I find it hard to remember who I've interacted with. I don't think we had talked about robotics or planning though.
Anyway now I'll remember you :)
>> Sure. That's the replanning. But actually you could backtrack into a plan you've already got that has the same prefix as the plan you've already chosen. Presumably a different plan differs from exactly this position and avoids the obstacle that made the current plan fail at that point. You'd have to keep track of the movements you've done. But as the plans are generated lazily, both concepts ('replanning' and 'choosing one of the original plans that hasn't been "superseded by reality" yet') might actually be the same.
I think I see what you mean. There's certainly a problem with backtracking all the way to the point where a plan failed only to pick up again from that point- and probably fail again. I don't think I can reason about this from first principles. I'd have to try it out and see what works and what doesn't.
EDIT: I went back and found our previous discussion. Hi again.