Systematic Nonlinear Planning

This paper presents a simple, sound, complete, and systematic algorithm for domain independent STRIPS planning. Simplicity is achieved by starting with a ground procedure and then applying a general, and independently verifiable, lifting transformation. Previous planners have been designed directly aa lifted procedures. Our ground procedure is a ground version of Tate’ s NONLIN procedure. In Tate’ s procedure one is not required to determine whether a prerequisite of a step in an unfinished plan is guaranteed to hold in all linearizations. This allows Tate’ s procedure to avoid the use of Chapman’ s modal truth criterion. Systematicity is the property that the same plan, or partial plan, is never examined more than once. Systematicity is achieved through a simple modification of Tate’ s procedure.

Authors

• David McAllester Bart Selman

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