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1. Introduction
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Planning Algorithms
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Contents
I
. Introductory Material
Subsections
1
. Introduction
1
.
1
Planning to Plan
1
.
2
Motivational Examples and Applications
1
.
3
Basic Ingredients of Planning
1
.
4
Algorithms, Planners, and Plans
1
.
4
.
1
Algorithms
1
.
4
.
2
Planners
1
.
4
.
3
Plans
1
.
5
Organization of the Book
2
. Discrete Planning
2
.
1
Introduction to Discrete Feasible Planning
2
.
1
.
1
Problem Formulation
2
.
1
.
2
Examples of Discrete Planning
2
.
2
Searching for Feasible Plans
2
.
2
.
1
General Forward Search
2
.
2
.
2
Particular Forward Search Methods
2
.
2
.
3
Other General Search Schemes
2
.
2
.
4
A Unified View of the Search Methods
2
.
3
Discrete Optimal Planning
2
.
3
.
1
Optimal Fixed-Length Plans
2
.
3
.
1
.
1
Backward value iteration
2
.
3
.
1
.
2
Forward value iteration
2
.
3
.
2
Optimal Plans of Unspecified Lengths
2
.
3
.
3
Dijkstra Revisited
2
.
4
Using Logic to Formulate Discrete Planning
2
.
4
.
1
A STRIPS-Like Representation
2
.
4
.
2
Converting to the State-Space Representation
2
.
5
Logic-Based Planning Methods
2
.
5
.
1
Searching in a Space of Partial Plans
2
.
5
.
2
Building a Planning Graph
2
.
5
.
3
Planning as Satisfiability
Further Reading
Exercises
Steve M LaValle 2008-06-13
