Planning as Search 3
Phase 1 - Graph Expansion
- Necessary (insufficient) conditions for plan existence
- Local consistency of plan-as-CSP
Phase 2 - Solution Extraction
- Variables
- action execution at a time point
- Constraints
- goals, subgoals achieved
- no side-effects between actions
-
Actions A,B exclusive (at a level) if
- A deletes B’s precond, or
- B deletes A’s precond, or
- A & B have inconsistent preconds
Propositions P,Q inconsistent (at a level) if
- all ways to achive P exclude all ways to achieve Q