Using the Planning Graph to account for +ve/-ve Interactions
Mutex relations can help account for -ve interactions
- Grow the PG until level-off (Polynomial operation)
- Distance of a set {P1 P2 …Pn} is the index of the first level of the PG where P1…Pn are present without any mutexes
- Easy to generalize to n-ary mutexes
- Informedness can be improved by partitioning P1…Pn into some k partitions, S1…Sk and summing the distances of Si
+ve interactions can be accounted for by extracting a plan from the PG ignoring mutex relations
- Run Graphplan algorithm, but do not do any mutex propagation.