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Semi-Relaxed Plan Heuristics

Emil Keyder 1 Joerg Hoffmann 1, 2 Patrik Haslum 3
1 MAIA - Autonomous intelligent machine
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
3 AI group
Research School of Computer Science [Canberra], NICTA Canberra labs
Abstract : Heuristics based on the delete relaxation are at the forefront of modern domain-independent planning techniques. Here we introduce a principled and flexible technique for augmenting delete-relaxed tasks with a limited amount of delete information, by introducing special fluents that explicitly represent conjunctions of fluents in the original planning task. Differently from previous work in this direction, conditional effects are used to limit the growth of the task to be linear, rather than exponential, in the number of conjunctions that are introduced, making its use for obtaining heuristic functions feasible. We discuss how to obtain an informative set of conjunctions to be represented explicitly, and analyze and extend existing methods for relaxed planning in the presence of conditional effects. The resulting heuristics are empirically evaluated, and shown to be sometimes much more informative than standard delete-relaxation heuristics.
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Emil Keyder, Joerg Hoffmann, Patrik Haslum. Semi-Relaxed Plan Heuristics. ICAPS - 22nd International Conference on Automated Planning and Scheduling - 2012, Jun 2012, Atibaia, Brazil. ⟨hal-00765025⟩

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