Utility of Causal Encodings in Incremental Planning/Plan Reuse
SAT-based planning has hither-to concentrated on from-scratch planning
- But, most real-world planning involves replanning and plan-reuse
- e.g. Find a plan as close to this current one as possible, which handles the given specification changes (in initial state, expected world state, goal state, available operators etc.)
- Motivation for minimal modification may be either faster response, or reducing the ripple effect of the changes
- Such scenarios require the flexibility to insert steps anywhere in the existing plan.