Reuse in Disjunctive Planning
Harder to make a disjunctive planner commit to extending a specific plan first
Options:
- Support opaque macros along with primitive actions
- Increases the size of k-step disjunctive plan
- But a solution may be found at smaller k
- Modify the problem/domain specification so the old plan’s constraints will be respected in any solution (Bailotti et. al.)
- MAX-SAT formulations of reuse problem
- Constrain the encoding so that certain steps may have smaller step-action mapping and ordering choices
- Causal encodings provide better support