Monte Carlo Tree Search for Priced Timed Automata

Priced timed automata (PTA) were introduced in the early 2000s to allow for generic modelling of resource-consumption problems for systems with real-time constraints. Optimal schedules for allocation of resources may here be recast as optimal reachability problems. In the setting of PTA this problem has been shown decidable and efficient symbolic reachability algorithms have been developed. Moreover, PTA has been successfully applied in a variety of applications. Still, we believe that using techniques from the planning community may provide further improvements. Thus, in this paper we consider exploiting Monte Carlo Tree Search (MCTS), adapting it to problems formulated as PTA reachability problems. We evaluate our approach on a large benchmark set of PTAs modelling either Task graph or Job-shop scheduling problems. We discuss and implement different complete and incomplete exploration policies and study their performance on the benchmark. In addition, we experiment with both wellestablished and our novel MTCS-based optimizations of PTA and study their impact. We compare our method to the existing symbolic optimal reachability engines for PTAs and demonstrate that our method (1) finds near-optimal plans, and (2) can construct plans for problems infeasible to solve with existing symbolic planners for PTA.