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Belzner, Lenz; Hennicker, Rolf and Wirsing, Martin (2016): OnPlan: A Framework for Simulation-Based Online Planning. In: Braga, Christiano and Ölveczky, Peter Csaba (eds.) : Formal Aspects of Component Software : 12th International Conference, FACS 2015, Niterói, Brazil, October 14-16, 2015, Revised Selected Papers. Lecture Notes in Computer Science, Vol. 9539. Springer. pp. 1-30

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This paper proposes the OnPlan framework for modeling autonomous systems operating in domains with large probabilistic state spaces and high branching factors. The framework defines components for acting and deliberation, and specifies their interactions. It comprises a mathematical specification of requirements for autonomous systems. We discuss the role of such a specification in the context of simulation-based online planning. We also consider two instantiations of the framework: Monte Carlo Tree Search for discrete domains, and Cross Entropy Open Loop Planning for continuous state and action spaces. The framework's ability to provide system autonomy is illustrated empirically on a robotic rescue example.

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