PPT Slide

Plan-space Refinement

PSR

0

1:Unload(A)

?

At(A,M)@�

2:Fly()

3:Unload(A)

0

?

In(A)@2

At(A,M)

At(A,M)@�

¬At(A,M)

Goal selection:

Select a precondition

Establishment:

Select a step (new or existing)

and make it give the condition

De-clobbering:

Force intervening steps to

preserve the condition

Book-keeping: (Optional)

Add IPCs to preserve

the establishment

? Systematicity

(PSR is complete, and progressive)

(Sacerdoti, 1972; Pednault, 1988; McAllester, 1991)

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