Standard temporal planning assumes that planning takes place offline and then execution starts at time 0. Recently, situated temporal planning was introduced, where planning starts at time 0 and execution occurs after planning terminates. Situated temporal planning reflects a more realistic scenario where time passes during planning. However, in situated temporal planning a complete plan must be generated before any action is executed. In some problems with time pressure, timing is too tight to complete planning before the first action must be executed. For example, an autonomous car that has a truck backing towards it should probably move out of the way now and plan how to get to its destination later. In this paper, we propose a new problem setting: concurrent planning and execution, in which actions can be dispatched (executed) before planning terminates. Unlike previous work on planning and execution, we must handle wall clock deadlines that affect action applicability and goal achievement (as in situated planning) while also supporting dispatching actions before a complete plan has been found. We extend previous work on metareasoning for situated temporal planning to develop an algorithm for this new setting. Our empirical evaluation shows that when there is strong time pressure, our approach outperforms situated temporal planning.

驱动动作执行前的同时计划和执行问题，扩展适应于实境规划的元推理方法，提出适应计划期限和派遣动作的算法，在强时限压力下优于实境规划。

计划和行动随着时间的推移