Cost-Optimal Factored Planning: Promises and Pitfalls
Factored planning methods aim to exploit locality to efficiently solve large but "loosely coupled" planning problems by computing solutions locally and propagating limited information between components. However, all factored planning methods presented so far work with representations that require certain parameters to be bounded (e.g. number of coordination points between local plans considered); the satisfaction of those bounds by a given problem instance is difficult to establish a priori,...[Show more]
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