Interleaving Deliberative and Reactive Planning in Dynamic Multi-Agent Domains

Rune Møller Jensen, Manuela M. Veloso

Research output: Contribution to conference - NOT published in proceeding or journalPaperResearchpeer-review


Reactive planning, consisting of pre-defined sensor action rules, is well suited to effectively respond to dynamic changes in real-time environments, However, it is in general challenging to strategically reason about long or short-term objectives using reactive planning. Therefore, ideally, deliberative and reactive planning should be integrated, In this paper, we introduce an adaptive interleaving of deliberative and reactive planning as our approach for dealing with real-time dynamic environments. Two main aspects are responsible for the success of the approach, First, the deliberative planner uses depth-bounded forward chaining guided by goal-based heuristics. Second, the real-time state space is discretized as a function of the average time that the deliberative planner needs to generate a plan. This ensures that the state, as seen by the deliberative planner, does not change in average while the plan is being generated. When a plan fails or a new plan is needed, the reactive planner takes over. We extend our approach to multi-agent real-time domains, where the need for collaborative deliberative planning is particularly needed. We implemented and demonstrate our integration using the Prodigy deliberative planner and the RoboCup soccer simulator server.
Original languageEnglish
Publication date22 Oct 1998
Number of pages10
Publication statusPublished - 22 Oct 1998
Externally publishedYes
EventAAAI 1998 FALL SYMPOSIA: Integrated Planning for Autonomous Agent Architectures - Omni Rosen Hotel, Orlando, United States
Duration: 22 Oct 199824 Oct 1998


LocationOmni Rosen Hotel
Country/TerritoryUnited States


  • Reactive Planning
  • Deliberative Planning
  • Adaptive Interleaving
  • Depth-Bounded Forward Chaining
  • Collaborative Multi-Agent Systems


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