
5.7 Discussion and Historical Remarks 103
The planner called FLECS [527] provides an affirmative answer. The idea in FLECS
is to combine the least commitment principle with what is called an eager commit-
ment strategy. The former chooses new actions and constraints in order to solve
flaws in a partial plan π , as is done PSP. The latter maintains a current state s;
whenever there is in π an action a applicable to s that has no predecessor in ≺
except a
0
, this strategy chooses to progress from s to the successor state γ (s, a).
Flaws are assessed with respect to this new current state. At each recursion, FLECS
introduces a flexible choice point between ...