Suspending recursion in causal-link planning
David Edward Smith, Mark A. Peot · 1996
We present a strategy for suspending recursive open conditions during planning. We also show conditions under which plans with suspended open conditions can be pruned. To make this suspension and pruning strategy efficient, we use an operator graph to analyze potential recursion before the planning process begins. This approach covers a broader range of recursive problems than the approaches of Morris and Kambhampati, and is much more tractable than Kambhampati's approach. We give experimental results that indicate 1) significant improvement on recursive problems and 2) negligible overhead when applied to recursive and non-recursive problems alike. Keywords: causal-link planning, recursion, search-control, open condition ordering. David E. Smith Rockwell Science Center 444 High St. Palo Alto, CA 94301 [email protected] (415) 325-7162 Mark A. Peot Rockwell Science Center 444 High St. Palo Alto, CA 94301 [email protected] (415) 325-7143 This document was created with F...