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Summary: Appears in Proceedings of 18th Int'l Joint Conference on Artificial Intelligence (IJCAI '03).
Factored Planning
Eyal Amir and Barbara Engelhardt
Computer Science Division, University of California at Berkeley
Berkeley, CA 94720-1776, USA
{eyal,bee}@cs.berkeley.edu
Abstract
We present a general-purpose method for dynami-
cally factoring a planning domain, whose structure
is then exploited by our generic planning method
to find sound and complete plans. The planning al-
gorithm's time complexity scales linearly with the
size of the domain, and at worst exponentially with
the size of the largest subdomain and interaction be-
tween subdomains. The factorization procedure di-
vides a planning domain into subdomains that are
organized in a tree structure such that interaction
between neighboring subdomains in the tree is min-
imized. The combined planning algorithm is sound
and complete, and we demonstrate it on a represen-
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