Optimal delete-relaxed (and semi-relaxed) planning with conditional effects
Patrik Haslum · ANU Open Research (Australian National University) · 2013
Recently, several methods have been proposed for optimal delete-free planning. We present an incremental compilation approach that enables these methods to be applied to problems with conditional effects, which none of them support natively. With an h + solver for problems with conditional effects in hand, we also consider adapting the h ++ anytime lower bound function to use the more spaceefficient P C ce compilation. This avoids the memory limitation of the original h ++ caused by its reliance on an exponential-space compilation. It also leads to improvements on some problems where memory is not an issue. 1