UCP: Planning Template

Refine ( P : Plan)

0*. If «P » is empty, Fail.

1. If SOL(P ) returns a solution,

terminate with success.

2. Select a refinement strategy R

Apply R to P to get a new plan set P’

3. Non-deterministically select a component P’i of P’

Call Refine(P’i )

FSS

BSS