Landmarks in Hierarchical Planning

摘要

In this paper we introduce a novel landmark technique for hierarchical planning. Landmarks are abstract tasks that are mandatory. They have to be performed by any solution plan. Our technique relies on a landmark extraction procedure that pre-processes a given planning problem by systematically analyzing the ways in which relevant abstract tasks can be decomposed. We show how the landmark information is used to guide hierarchical planning and present some experimental results that give evidence for the considerable performance increase gained through our technique.