Suspending Recursion in Causal-link Planning

David E. Smith and Mark A. Peot

We present a strategy tbr suspending recursive open conditions during planning. We also show conditions under which plans with suspended open conditions can be pruned. To make this suspension and pruning strategy efficient, we use an operator graph to analyze potential recursion before the planning process begins. This approach covers a broader range of recursive problems than the approaches of Morris and Kambhampati, and is much more tractable than Kambhampati’s approach. We give experimental results that indicate I ) significant improvement on recursive problems and 2) negligible overhead when applied to recursive and non-recursive problems alike.

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