Incremental Lower Bounds for Additive Cost Planning Problems

We present a novel method for computing increasing lower bounds on the cost of solving planning problems, based on repeatedly solving and strengthening the delete relaxation of the problem. Strengthening is done by compiling select conjunctions into new atoms, similar to the P ⋆ construction. Because it does not rely on search in the state space, this method does not suffer some of the weaknesses of admissible search algorithms and therefore is able to prove higher lower bounds for many problems that are too hard for optimal planners to solve, thus narrowing the gap between lower bound and cost of the best known plan, providing better assurances of plan