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For planning to come of age, plans must be judged by a measure of quality, such as the total cost of actions. This paper describes an optimal-cost planner which guarantees global optimality whenever the planning problem has a solution. We code the extraction of an optimal plan, from a planning graph with a fixed number k of levels, as a weighted constraint… (More)

We show in this article 1 how the Weighted CSP framework can be used to solve an optimisation version of numerical planning. The WCSP finds an optimal plan in the planning graph containing all solution plans of minimum length. Experimental trials were performed to study the impact of soft arc consistency techniques (FDAC and EDAC) on the efficiency of the… (More)

(Received 00 Month 200x; In final form 00 Month 200x) Cost-optimal planning, in which the aim is to minimize the sum of costs of actions, is a challenging problem due to its computational complexity. A linear program derived from a relaxation which ignores the constraints on the ordering of actions can be used to obtain a lower bound on the cost of a… (More)

Cost-optimal planning, in which the aim is to minimize the sum of costs of actions, is a challenging problem due to its computational complexity. A linear program derived from a relaxation which ignores the constraints on the ordering of actions can be used to obtain a lower bound on the cost of a solution-plan. We show that the dual of this linear program… (More)

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