Optimal Infinite Temporal Planning: Cyclic Plans for Priced Timed Automata


  • Rasmus G. Tollund Aalborg University, Aalborg, Denmark
  • Nicklas S. Johansen Aalborg University, Aalborg, Denmark
  • Kristian Ø. Nielsen Aalborg University, Aalborg, Denmark
  • Álvaro Torralba Aalborg University, Aalborg, Denmark
  • Kim G. Larsen Aalborg University, Aalborg, Denmark




Many applications require infinite plans ---i.e. an infinite sequence of actions--- in order to carry out some given process indefinitely. In addition, it is desirable to guarantee optimality. In this paper, we address this problem in the setting of doubly-priced timed automata, where we show how to efficiently compute ratio-optimal cycles for optimal infinite plans. For efficient computation, we present symbolic λ-deduction (S-λD), an any-time algorithm that uses a symbolic representation (priced zones) to search the state-space with a compact representation of the time constraints. Our approach guarantees termination while arriving at an optimal solution. Our experimental evaluation shows that S-λD outperforms the alternative of searching in the concrete state space; is very robust with respect to fine-grained temporal constraints; and has a very good anytime behaviour.




How to Cite

Tollund, R. G., Johansen, N. S., Nielsen, K. Ø., Torralba, Álvaro, & Larsen, K. G. (2024). Optimal Infinite Temporal Planning: Cyclic Plans for Priced Timed Automata. Proceedings of the International Conference on Automated Planning and Scheduling, 34(1), 588-596. https://doi.org/10.1609/icaps.v34i1.31521