Extending Planning Graphs to an ADL Subset

Authors:
J. Koehler;B. Nebel;J. Hoffmann;Y. Dimopoulos
Affiliations:
-;-;-;-
Venue:
Extending Planning Graphs to an ADL Subset
Year:
1997

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Abstract

We describe an extension of Graphplan to a subset of ADL that allows conditional and universally quantified effects in operators. The data structure of planning graphs is extended to cope with the more expressive operators in such a way that most of the interesting properties of the original Graphplan formalism are preserved. A sound and complete planning algorithm extracts plans from planning graphs and terminates on unsolvable problems. A new efficient technique for subset memoization is presented to speed up the planner and we prove that Graphplan''s termination test remains complete under subset memoization.