Reviving Partial Order Planning
نویسندگان
چکیده
This paper challenges the prevailing pessimism about the scale-up ability of partial order planners (POP) by presenting several novel heuristic control techniques that make the PO planners competitive with the state of the art plan synthesis algorithms. Our critical insight is that the techniques responsible for the efficiency of the currently successful planners–viz., distance based heuristics, reachability analysis and disjunctive constraint handling– can also be adapted to dramatically improve the efficiency of the POP algorithm. Our empirical studies demonstrate that in parallel domains, RePOP, a planner based on our ideas, convincingly outperforms Graphplan (which has hither-to been considered to be the best approach for synthesizing parallel plans). The plans generated by RePOP are also significantly better than those generated by Graphplan and state search planners in terms of execution flexibility.
منابع مشابه
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