  This work presents Drake, a dynamic executive for temporal plans with choice.
Dynamic plan execution strategies allow an autonomous agent to react quickly to
unfolding events, improving the robustness of the agent. Prior work developed
methods for dynamically dispatching Simple Temporal Networks, and further
research enriched the expressiveness of the plans executives could handle,
including discrete choices, which are the focus of this work. However, in some
approaches to date, these additional choices induce significant storage or
latency requirements to make flexible execution possible.
  Drake is designed to leverage the low latency made possible by a
preprocessing step called compilation, while avoiding high memory costs through
a compact representation. We leverage the concepts of labels and environments,
taken from prior work in Assumption-based Truth Maintenance Systems (ATMS), to
concisely record the implications of the discrete choices, exploiting the
structure of the plan to avoid redundant reasoning or storage. Our labeling and
maintenance scheme, called the Labeled Value Set Maintenance System, is
distinguished by its focus on properties fundamental to temporal problems, and,
more generally, weighted graph algorithms. In particular, the maintenance
system focuses on maintaining a minimal representation of non-dominated
constraints. We benchmark Drakes performance on random structured problems, and
find that Drake reduces the size of the compiled representation by a factor of
over 500 for large problems, while incurring only a modest increase in run-time
latency, compared to prior work in compiled executives for temporal plans with
discrete choices.
