For many years, the intuitions underlying partial-order planning were largelytaken for granted. Only in the past few years has there been renewed interestin the fundamental principles underlying this paradigm. In this paper, wepresent a rigorous comparative analysis of partial-order and total-orderplanning by focusing on two specific planners that can be directly compared. Weshow that there are some subtle assumptions that underly the wide-spreadintuitions regarding the supposed efficiency of partial-order planning. Forinstance, the superiority of partial-order planning can depend critically uponthe search strategy and the structure of the search space. Understanding theunderlying assumptions is crucial for constructing efficient planners.
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