Translation STRIPS Planning in Multi-robot Environment to Linear Programming

摘要

In the paper multi-robot environment with STRIPS representation is considered. Under some assumptions such problems can be modelled as a STRIPS system (for instance Block World environment) with one initial state and disjunction of goal states. If STRIPS planning problem is invertible then it is possible to apply machinery for planning in the presence of incomplete information to solve the inverted problem and then to find a solution for the original problem. To reduce computational complexity of this approach a transformation to Linear Programming problem is proposed. Simulations illustrate the reduced problem.