How to clear a block: A theory of plans
Journal of Automated Reasoning
Model checking
Knowlege in action: logical foundations for specifying and implementing dynamical systems
Knowlege in action: logical foundations for specifying and implementing dynamical systems
Knowledge, action, and the frame problem
Artificial Intelligence
Learning generalized plans using abstract counting
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 2
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
What robots can do: robot programs and effective achievability
Artificial Intelligence
What is planning in the presence of sensing?
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
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A plan with rich control structures like branches and loops can usually serve as a general solution that solves multiple planning instances in a domain. However, the correctness of such generalized plans is non-trivial to define and verify, especially when it comes to whether or not a plan works for all of the infinitely many instances of the problem. In this paper, we give a precise definition of a generalized plan representation called an FSA plan, with its semantics defined in the situation calculus. Based on this, we identify a class of infinite planning problems, which we call one-dimensional (1d), and prove a correctness result that 1d problems can be verified by finite means. We show that this theoretical result leads to an algorithm that does this verification practically, and a planner based on this verification algorithm efficiently generates provably correct plans for 1d problems.