Disjunctive planners based on BSS and PS refinements?
Graphplan can be seen as a disjunctive planner based on state-space refinement.
- How about planners based on other refinements?
Chief difficulty lies in generalizing the refinements to disjunctive plans, while retaining their progressivity
- The mutex propagation step of Graphplan is what makes it progressive
Generalization is however quite easy If we sacrifice “progressiveness” of refinements
Basic idea:
- Set up bounded length disjunctive structure
- Search for a substructure that satisfies solution properties