Domain Compilation for Embedded Real-Time Planning

While universal plans tell a system how to reach a goal regardless of what state it is in, such plans are typically too large to represent. Hybrid systems execute plans where each action is implemented to robustly produce effects if the world does not stray outside the action’s control envelope. This paper presents a middle ground between these two extremes that uses plans, but also enables much larger control envelopes using a real-time planner that finds optimal n step plans to achieve a set of goals if one exists.