Admissible heuristics for automated planning by by Patrik Haslum.

By by Patrik Haslum.

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Problem sizes (the number of blocks and the number of observations, respectively) were scaled from nearly trivial (5 blocks and 3 observations, respectively) to the the largest for which a reasonable percentage could still be solved within the time limit (13 blocks and 6 observations; with the h2 heuristic, which generally achieves the best performance, roughly a third of the size 13 Blocksworld problems were solved). For the Blocksworld domain, 25 random problems for each size were generated using Slaney & Thiebaux’s bwstates program (see Slaney & Thiebaux, 2001).

That for some s, h (s) = v > v = hm (s). Since there are only finitely many states, it can be assumed that v is the smallest value for which this holds. If |s| > m, hm (s) = v = hm (s ) for some subset s of s such that |s | = m. ) It must be the case that hm (s ) < v for every size m subset s containing s , since otherwise hm (s) v (contrary to assumption). Therefore, it is enough to consider the simpler case when |s| = m , and hm (s) = hm (s ) for some size m subset of s. , hm (s) = hm ((s − add(a)) ∪ pre(a)) + cost(a) (replacing s by the result of 43 regressing s through a).

The LPG planner, Gerevini & Serina, 2002). Finally, partial order causal link planning bears a great deal of similarity to planning methods for the constraint-based interval model. Planning methods of this kind are generally believed to be more suited to temporal planning, as it is easier to integrate external events, deadlines and other timing-related constraints. 33 34 3. Relaxed Reachability Heuristics The classical planning problem can be seen as the problem of finding a path from the initial world state to a set of target states (those satisfying the goal condition) in a directed graph (whose nodes correspond to states and links to the possible state transitions, effected by actions).

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