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Table of Contents
Abstract
1 Introduction
1.1 Definitions and Notation
2 Valid Plans and Planning Graphs
2.1 Planning Graphs
2.2 Exclusion Relations Among Planning Graph Nodes
2.2.1 The power of exclusion relations
Summary
This paper introduces a new approach to planning in STRIPS-like domains based on constructing and analyzing a compact structure called a Planning Graph. A new planner, Graphplan, is described, which returns a shortest-possible partial-order plan or states that no valid plan exists. Empirical evidence supports the effectiveness of this approach, showing that Graphplan outperforms other planners. Planning Graph Analysis provides significant practical value in solving planning problems. The paper presents empirical results demonstrating the effectiveness of Graphplan on various domains.