Complexity Results for Sas + Planning Christer Bb Ackstrr Om

We have previously reported a number of tractable planning problems deened in the SAS + formalism. This report complements these results by providing a complete map over the complexity of SAS + planning under all combinations of the previously considered restrictions. We analyze the complexity both of nding a minimal plan and of nd-ing any plan. In contrast to other complexity surveys of planning we study not only the complexity of the decision problems but also of the generation problems. We prove that the SAS +-PUS problem is the maximal tractable problem under the restrictions we have considered if we want to generate minimal plans. If we are satissed with any plan, then we can generalize further to the SAS +-US problem, which we prove to be the maximal tractable problem in this case.

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