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Partial-Order Planning

  • Forward and backward state-space search are both forms of totally-ordered plan search – explore linear sequences of actions from initial state or goal.

  • As such they cannot accomodate problem decomposition and work on subgraphs separately.

  • A partial-order planner depends on:
    • A set of ordering constraints , wherein A ≺ B means that A is executed some time before B (not necessarily directly before)
    • A set of causal links , A –p-> B, meaning A achieves p for B

    • A set of open preconditions not achieved by any action in the current plan


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