Phase Transitions of Plan Modification in Conformant Planning

We explore phase transitions of plan modification, which mainly focus on the conformant planning problems. By analyzing features of plan modification in conformant planning problems, quantitative results are obtained. If the number of operators is less than ub  , almost all conformant planning problems can’t be solved with plan modification. If the number of operators is more than lb  , almost all conformant planning problems can be solved with plan modification. The results of the experiments also show that there exists an experimental threshold c  of density (ratio of number of operators to number of propositions), which separates the region where almost all conformant planning problems can’t be solved with plan modification from the region where almost all conformant planning problems can be solved with plan modification.