On the Implementation of MIPS

Planning is a central topic of AI and provides solutions to problems given in a problem independent formalism. Recent successes in the exploration of model checking and single-agent search problems have led to a generalization of the symbolic exploration method with binary decision diagrams (BDDs). In this paper we present the use, architecture, implementation and performance of our STRIPS planner MIPS abbreviating intelligent model checking and planning system. With BDD re nements, symbolic and single state heuristic search engines we highlight recent improvements that have been added to the system.