Controlled Splitting
0*. If P is inconsistent, prune it. End.
1. If a minimal candidate corresponds to a solution, terminate.
2. Apply a refinement strategy R to P to get a new plan set P’
3. Reduce components of P’ by introducing disjunction
4. Propagate constraints in the components
5. Non-deterministically select a component P’i of P’
DESCARTES [Joslin & Pollack; 1995]
UCPOP-D [Kambhampati & Yang; KR, 1996]
Just scratch the surface...