PPT Slide
Subgoal Interactions in a Leveled Serial Planning Graph Structure
- Level-specific mutexes improve distance estimate accuracy
- Static mutexes help prune invalid and/or unreachable states
- Establisher-Consumer relations stored in the planning graph identify subgoals that are “co-achieved” thus avoiding overestimation
Planning graph identifies a more relevant set of actions thereby
reducing branching in the backward state space search
-ve: dynamic mutex: (A,B), static mutex: (C,D)
+ve: co-achieveness relation: (B,C)