Sapa : A Domain-Independent HeuristicMetric TemporalPlanner

  title={Sapa : A Domain-Independent HeuristicMetric TemporalPlanner},
  author={Subbarao Kambhampati},
Many real world planning problems require goals with deadlines and durative actions that consume resources. In this paper, we present Sapa, a domain-independent heuristic forward chaining planner that can handle durative actions, metric resource constraints, and deadline goals. The main innovation of Sapais the set of distance based heuristics it employs to control its search. We consider both optimizing and satisficing search. For the former, we identify admissible heuristics for objective… CONTINUE READING

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