Planning with Goal Agendas
Jana Koehler · 1998
The paper introduces an approach to derive a total ordering between increasing sets of subgoals by defining a relation over atomic goals. The ordering is represented in a so-called goal agenda that is used by the planner to incrementally plan for the increasing sets of subgoals. This can lead to an exponential complexity reduction because the solution to a complex planning problem is found by solving easier subproblems. Since only a polynomial overhead is caused by the goal agenda computation, a potential exists to dramatically speed up planning algorithms as we demonstrate in the empirical evaluation. This technical report is an extended and updated version of the paper Solving Complex Planning Tasks Through Extraction of Subproblems that has been published at AIPS-98. Contents 1 Introduction 1 2 Defining a Relation between Atomic Goals 2 2.1 Exploiting Knowledge about the State s A . . . . . . . . . . . . . . . . . . . 3 2.2 Restricting the action set O . . . . . . . . . . . . . ...