Other notable optimizations
Reduce the size of the disjunctive plan
- Bi-level Representations [Fox & Long, 97][Smith &Weld, 97]
- Lifted representations [Parke & Ginsberg, 2000]
- Relevance based pruning
- Backward plan growth [Kambhampati et. al., 97]
- Preprocessing to remove irrelevant actions and conditions [RIFO, Nebel et. al. 97]
Increase the consistency level of the disjunctive plan
- Learn (or input) higher-order mutexes (invariants) [Gerevini, 98] [Fox & Long, 99][Rintanen, 2000]
Improve the solution extraction process
- Exploit Symmetry [Fox et. al. 99, Srivastava et. al. 99]
- + the usual retinue of search improvements from CSP, ILP etc. [Kambhampati, 2000]