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Table of Contents
1. Introduction
2. Related Work
2.1 Causal Graphs and Abstraction
2.2 Causal Graphs and Unary STRIPS Operators
2.3 Multi-Valued Planning Tasks
3. FastDownward
Summary
The Fastdownward Planning System is a classical planning system based on the ideas of heuristic forward search and hierarchical problem decomposition. It supports the full range of propositional PDDL2.2, including advanced features like conditional and universally quantified effects and derived predicates. The planner uses a heuristic evaluation function called the causal graph heuristic, which recursively solves planning tasks in a hierarchical fashion. The system has shown excellent performance and has won competitions against previous champions like FF and LPG.