Causal Links Planning and the Systematic Approach to Action and Change
Lars Karlsson · 1996
This paper presents an analysis of partial-order and causal-links planning based on Sandewall's systematic approach to reasoning about action and change. The partial-order planners tweak and snlp are analysed and reconstructed. A temporal logic, called the fluent logic, is used for representing plans, and the strong connection between causal links and elements of the fluent logic are pointed out. Introduction The topic of this paper is the formalization of the planning problem and the analysis and specification of planners and the ways they model a changing world, all within Sandewall's Features and Fluents framework (Sandewall 1994). The idea behind Sandewall's framework is that problems of reasoning about action and change should not be approached for all possible kinds of worlds (domains) at once. One should instead identify classes of worlds with certain restrictions on their structure, for instance whether actions can occur concurrently and whether actions can be nondeterministic...