Interleaving Refinements

• Combine different refinements opportunistically

  • Can be more efficient than single-refinement planners
  • Refinement selection criteria?
    • # Components produced
    • “Progress” made

(Kambhampati & Srivastava, 1995)

?

0

1: Unload(A)

0

?

2: Fly()

1: Unload(A)

0

?

BSR

PSR

FSR

2: Fly()

1: Unload(A)

0

3: Load(A)

?

2: Fly()

1: Unload(A)

0

?

3: Load(A)

Pre-position

At(A,M)@ ?

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