Forward-Chaining Planning with a Flexible Least-Commitment Strategy

摘要

In this paper we present FLAP, a forward-chaining planner which works with partial-order plans. Unlike similar planners like OPTIC, FLAP follows the least-commitment principle of the traditional partial-order planning algorithm without establishing additional ordering constraints among actions during the search. This leads to the generation of more general plans, with more flexible executions, that can be easily adapted to temporal planning or multi-agent planning. Despite the overhead caused by working with partial-order plans, experimental results show that FLAP outperforms OPTIC in many domains.