ABTWEAK: Abstracting a Nonlinear, Least Commitment Planner

Qiang Yang, Josh D. Tenenberg

We present the system ABTWEAK, which extends the precondition-elimination abstraction of ABSTRIPS to hierarchical planners using the non-linear plan representation as defined in TWEAK. We show that ABTWEAK satisfies the monotonic property, whereby the existence of a lowest level solution II implies the existence of a highest level solution that is structurally similar to II. This property enables one to prune a considerable amount of the search space without loss of completeness.


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