State Agnostic Planning Graphs and the Application to Belief-Space Planning

@inproceedings{Cushing2005StateAP,
  title={State Agnostic Planning Graphs and the Application to Belief-Space Planning},
  author={William Cushing and Daniel Bryce},
  booktitle={AAAI},
  year={2005}
}
Planning graphs have been shown to be a rich source of heuristic information for many kinds of planners. In many cases, planners must compute a planning graph for each element of a set of states. The naive technique enumerates the graphs individually. This is equivalent to solving an all-pairs shortest path problem by iterating a single-source algorithm over each source. We introduce a structure, the state agnostic planning graph, that directly solves the all-pairs problem for the relaxation… CONTINUE READING

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