Impact of Subgoal Interactions

• Negative interactions: achieving one subgoal may delete others

  • Ignoring negative interactions may mislead the search fatally
  • Extracted from the set of mutex constraints in the planning graph

• Positive interactions: achieving one subgoal may help achieve others

  • Ignoring positive interactions tend to overestimate the cost, leading to poor solution quality
  • Extracted from the data structure (establisher-consumer between proposition and action levels) in the planning graph

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