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Automated Planning
book

Automated Planning

by Malik Ghallab, Dana Nau, Paolo Traverso
May 2004
Intermediate to advanced content levelIntermediate to advanced
635 pages
19h 46m
English
Morgan Kaufmann
Content preview from Automated Planning
17.2 Planning for Reachability Goals 409
Strong-Plan(P)
π failure; π
←∅
While π
= π and S
0
⊆ (S
g
S
π
) do
PreImage StrongPreImg(S
g
S
π
)
π

PruneStates(PreImage, S
g
S
π
)
π π
π
π
π

if S
0
(S
g
S
π
) then return(MkDet(π
))
else return(failure)
end
Figure 17.4 Strong planning algorithm.
PreImage is therefore the set of pairs (s, a) such that a is guaranteed to lead to states
in S
g
or to states in S
π
for which a solution is already known,
2
where S
π
is the set
of states of π
. This set is then pruned by removing pairs (s, a) such that a solution
is already known for s:
PruneStates(π, S) ={(s, a) π | s ∈ S}
The algorithm terminates if the initial ...
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Publisher Resources

ISBN: 9781558608566