Amy L. Lansky and Andrew G. Philpot
This paper describes the architecture of COLLAGE, a planner that provides generality and flexibility in several dimensions of planning: it includes a range of plan-construction methods, utilizes a flexible localized search technique, and is currently being extended to allow plan construction to be performed at varying times relative to plan execution. Our paper begins with a characterization of planning in terms of a five-dimensional spectrum of planning features. We then describe how traditional planning and more recent planning methods fit within this characterization. The rest of the paper focuses on COLLAGE and how it can embody several points within the planning spectrum.