Subgoal Interactions and Planner Selection
Every refinement planner R can be associated with a class CR of partial plans
G1 and G2 are trivially serializable w.r.t. a plan class C if every subplan PGi ??C is extendable to a plan for solving both.
- commitment????trivial serializability ?
- commitment ????plan handling cost?
Select the planner producing the class of highest commitment plans w.r.t. which most problems are trivially serializable
(Korf, 1987; Barrett & Weld, 1994; Kambhampati, Ihrig and Srivastava, 1996)