Angelic Hierarchical Planning: Optimal and Online Algorithms

@inproceedings{Marthi2008AngelicHP,
  title={Angelic Hierarchical Planning: Optimal and Online Algorithms},
  author={Bhaskara Marthi and Stuart J. Russell and Jason Andrew Wolfe},
  booktitle={ICAPS},
  year={2008}
}
Lookahead • k-step lookahead >> 1-step lookahead • e.g., chess Kc3 Rxa1 Qa4 c2 c2 Kxa1 
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Decision-theoretic refinement planning: Principles and application

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