Backward-Forward Search for Manipulation Planning Completeness Argument
نویسندگان
چکیده
Definition 1. A hybrid planning problem (HPP) 〈s0,Γ,A〉 is specified by an initial state s0 ∈ S, a finite goal set of constraints Γ, and a set of actions A. Definition 2. A finite sequence of actions (a1, a2, ..., am) ∈ A×A× ... is a solution to an HPP if and only if the corresponding sequence of states (s0, s1, ..., sm) ∈ S starting from s0 and recursively constructed using si = ai.eff (si−1) satisfies ∀i ∈ [m], si−1 ∈ ai.con and sm ∈ Γ.
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