Planning graphs and propositional clause-learning
The planning graph of Blum and Furst is one of the frequently used tools in planning. It is a data structure which can be visualized as a bipartite graph with state variables and actions as nodes and which approximates (upper bound) the set of reachable states with a given number of sets of simultaneous actions. We show that the contents of planning graphs follow from two more general notions: extended clause learning restricted to 2-literal clauses and the representation of parallel plans...[Show more]
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