Constraint Based Planning with Composable Substate Graphs

  title={Constraint Based Planning with Composable Substate Graphs},
  author={Peter Gregory and Derek Long and Maria Fox},
Constraint satisfaction techniques provide powerful inference algorithms that can prune choices during search. Constraint-based approaches provide a useful complement to heuristic search optimal planners. We develop a constraint-based model for cost-optimal planning that uses global constraints to improve the inference in planning. The key novelty in our approach is in a transformation of the SAS input that adds a form of macro-action to fully connect chains of composable operators. This… CONTINUE READING


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