A Normal Form for Classical Planning Tasks
Florian Pommerening, Malte Helmert · Proceedings of the International Conference on Automated Planning and Scheduling · 2015
We describe transition normal form (TNF) for classical planning tasks, where there is a unique goal state and variables occur in an operator precondition iff they appear in the effect. Tasks can be efficiently converted to TNF, all common planning heuristics are invariant under the transformation, and tasks in normal form are easier to study theoretically.