
94 Chapter 5 Plan-Space Planning
a
∞
move(r1,l3,l1)
move(r1,l1,l2) put(k1,c1,p2,l2)
unload(k1,c1,r1)
take(k1,c1,p1,l1)
load(k1,c1,r1,l1)
a
0
Figure 5.5 A solution plan.
flexibility introduced allows us to handle partially instantiated goals. Recall that
variables in a goal are existentially quantified. For example, any state in which there
is a container c in the pile p2 meets a goal such as in(c, p2) (see Exercise 5.4).
5.4 Algorithms for Plan-Space Planning
This section presents search procedures in the plan space. We first introduce
a generic schema for planning in the plan space that clarifies the main ingredi-
ents of flaws and resolvers for flaws. We then