## Extending planning graphs to an ADL subset (1997)

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Citations: | 167 - 23 self |

### BibTeX

@INPROCEEDINGS{Koehler97extendingplanning,

author = {Jana Koehler and Bernhard Nebel and Jörg Hoffmann and Yannis Dimopoulos},

title = {Extending planning graphs to an ADL subset},

booktitle = {},

year = {1997},

pages = {273--285},

publisher = {Springer-Verlag}

}

### Years of Citing Articles

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### Abstract

We describe an extension of graphplan to a subset of ADL that allows conditional and universally quantified effects in operators in such away that almost all interesting properties of the original graphplan algorithm are preserved.

### Citations

959 | Fast Planning Through Planning Graph Analysis
- Blum, Furst
- 1997
(Show Context)
Citation Context ...s 14 5 An Example 20 6 Termination, Soundness, Completeness, and Optimality 23 7 Empirical Evaluation 29 8 Conclusion 36 9 Appendix: Subset Memoization 38 1 Introduction Planning with planning graphs =-=[2]-=- has received considerable attention because of the spectacular runtime behavior reported for the graphplan system. The underlying approach splits the planning process into two phases: A forwardsearch... |

522 | Pushing the envelope: Planning, propositional logic, and stochastic search
- Kautz, Selman
- 1996
(Show Context)
Citation Context ...verhead. It seems likely that on small examples an overhead in search is compensated by savings during subset memoization. To get a clearer picture, we ran both systems on SATPLAN examples taken from =-=[8]-=- with and without subset memoization yielding the following results, cf. Table 8. Problem GP GP+PartialSubset IP 2 IP 2 +UBTree bw large.a 2.00 1.68 1.62 1.56 bw large.b 322.93 243.71 244.02 128.92 lo... |

416 | UCPOP: A Sound, Complete, Partial Order Planner for ADL
- Weld, Penberthy
- 1992
(Show Context)
Citation Context ...vations motivated us to directly embed operators with conditional and universally quantified effects into planning graphs, while other features of ADL [11, 12] that are for example available in UCPOP =-=[13]-=- can be reasonably handled by preprocessing [6]. 1 IP 2 is an acronym for interference progression planner. In Section 2, we introduce the basic notations and discuss a semantics for STRIPS operators ... |

289 |
ADL: Exploring the middle ground between STRIPS and the situation calculus
- Pednault
- 1989
(Show Context)
Citation Context ...actically intractable, see Section 7. These observations motivated us to directly embed operators with conditional and universally quantified effects into planning graphs, while other features of ADL =-=[11, 12]-=- that are for example available in UCPOP [13] can be reasonably handled by preprocessing [6]. 1 IP 2 is an acronym for interference progression planner. In Section 2, we introduce the basic notations ... |

107 | A multivalued logic approach to integrating planning and control
- Saffiotti, Konolige, et al.
- 1995
(Show Context)
Citation Context ...ination on unsolvable problems motivated us to use the approach as the kernel algorithm for our own planner IP 2 that we intend to use as the high-level front-end of the Pioneer mobile robot platform =-=[1]-=-. 1 But graphplan also has its limitations. First, its performance can decrease dramatically if too much irrelevant information is contained in the specification of a planning task, see [10] for a det... |

86 | Combining the expressivity of UCPOP with the efficiency of Graphplan
- Gazen, Knoblock
- 1997
(Show Context)
Citation Context ...d to pure STRIPS operators -- no conditional or universally quantified effects are allowed and it was unclear whether the underlying planning algorithm could be extended to more expressive formalisms =-=[3, 6, 9]-=-. In principle, sets of STRIPS operators can be used to encode conditional effects. For example, the move operator from the well-known Briefcase domain that specifies that all objects which are inside... |

79 | A heuristic estimator for means-end analysis in planning
- McDermott
- 1996
(Show Context)
Citation Context ...d to pure STRIPS operators -- no conditional or universally quantified effects are allowed and it was unclear whether the underlying planning algorithm could be extended to more expressive formalisms =-=[3, 6, 9]-=-. In principle, sets of STRIPS operators can be used to encode conditional effects. For example, the move operator from the well-known Briefcase domain that specifies that all objects which are inside... |

68 | Ignoring irrelevant facts and operators in plan generation
- Nebel, Dimopoulos, et al.
- 1997
(Show Context)
Citation Context ...t platform [1]. 1 But graphplan also has its limitations. First, its performance can decrease dramatically if too much irrelevant information is contained in the specification of a planning task, see =-=[10]-=- for a detailed analysis. Second, its simple representation language is restricted to pure STRIPS operators -- no conditional or universally quantified effects are allowed and it was unclear whether t... |

64 | Understanding and extending graphplan
- Kambhampati, Paeker, et al.
- 1997
(Show Context)
Citation Context ...dded to N F (i + 1) iff the following conditions are satisfied: 1. ' i (o) ` N F (n) 2. all facts in ' i (o) are non-exclusive of each other in N F (n) 6 This property was independently discovered in =-=[7]. 7 W-=-hen adopting a more strict semantics such as the one in Definition 5, one can also mark two Add effects as exclusive if for all possible ways of achieving these effects holds that ff i (o 1 ) " f... |

40 | Formalizing the prodigy planning algorithm
- Fink, Veloso
- 1996
(Show Context)
Citation Context .... The next interesting question is how IP 2 compares to other planners that support universally quantified and conditional effects. We used the Briefcase domain to compare IP 2 to UCPOP [13], Prodigy =-=[5]-=-, and graphplan using the equivalent translation of operators into sets. We looked at the simple task of initially having the briefcase at home and several objects in different locations with the goal... |

35 |
Generalizing nonlinear planning to handle complex goals and actions with context-dependent effects
- Pednault
- 1991
(Show Context)
Citation Context ...actically intractable, see Section 7. These observations motivated us to directly embed operators with conditional and universally quantified effects into planning graphs, while other features of ADL =-=[11, 12]-=- that are for example available in UCPOP [13] can be reasonably handled by preprocessing [6]. 1 IP 2 is an acronym for interference progression planner. In Section 2, we introduce the basic notations ... |

12 | Deduction-Based Refinement Planning - Stephan, Biundo - 1996 |

5 |
Combining the Expressivity of UCPOP with the E ciency of Graphplan
- Gazen, Knoblock
- 1997
(Show Context)
Citation Context ...cted to pure STRIPS operators { no conditional or universally quanti ed e ects are allowed and it was unclear whether the underlying planning algorithm could be extended to more expressive formalisms =-=[1, 3, 6]-=-. name: move-briefcase par: l1:location, l2:location pre: at-b(l1) e : ADD at-b(l2), DEL at-b(l1) 8x:object [in(x) ) ADD at(x,l2), DEL at(x,l1)]. Fig. 1. Operator with conditional and universally quan... |

1 |
XGV - a graphical interface to analyse planning graphs. System Documentation, available over http://www.informatik.uni-freiburg.de/~ koehler/ipp.html
- Rittinger
- 1997
(Show Context)
Citation Context ...e in the next time step does not delete the goal at(o,l). Figure 6 shows the plan that is extracted from the planning graph as it is generated for the example and drawn in the graphical interface XGV =-=[14]-=-. No-ops are not shown to reduce the width of action levels. 6 Termination, Soundness, Completeness, and Optimality To speed up search, the original graphplan system memoizes at each proposition level... |