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Planning with Incrementally Created Graphs

Published

Author(s)

Stephen B. Balakirsky, Otto H. Herzog

Abstract

A framework for planning algorithms that is both optimal and complete will be presented that allows for the planning of optimal paths through a multi-level hierarchy of annotated graph spaces. A rich world model that contains multi-resolution attributes, costs, and predicates controls the integrated incremental construction and evaluation of the planning graph in dynamic environments. The properties of this framework are proven and a number of example problem domains are presented that show how this framework can incorporate both hard and soft constraints during both graph construction and arc evaluation.
Citation
NIST Interagency/Internal Report (NISTIR) - 6895
Report Number
6895

Keywords

optimal plan, planning, planning graph, world model

Citation

Balakirsky, S. and Herzog, O. (2002), Planning with Incrementally Created Graphs, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD (Accessed December 9, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created June 30, 2002, Updated October 12, 2021