Heuristic Evaluation Based on Lifted Relaxed Planning Graphs


In previous work we have shown that grounding, while used by most (if not all) modern state-of-the-art planners, is not necessary and is sometimes even undesirable. In this paper we extend this work and present a novel forward-chaining planner that does not require grounding and can solve problem instances that are too large for current planners to handle… (More)


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