Decomposition and Causality in Partial Order Planning Decomposition and Causality in Partial-order Planning

We describe DPOCL, a partial-order causal link planner that includes action decomposition. DPOCL builds directly on the SNLP algorithm ?], and hence is clear and simple, and can readily be integrated with other SNLP extensions. In addition, DPOCL is speciically designed to handle partially speciied action decompositions. Plan generation in DPOCL exploits the planner's ability to ll in the missing pieces of a partially speciied subplan in a way that uses the existing context of the larger plan being constructed. Abstract We describe DPOCL, a partial-order causal link planner that includes action decomposition. DPOCL builds directly on the SNLP algorithm ?], and hence is clear and simple, and can readily be integrated with other SNLP extensions. In addition, DPOCL is specifically designed to handle partially speciied action de-compositions. Plan generation in DPOCL exploits the planner's ability to ll in the missing pieces of a partially speciied subplan in a way that uses the existing context of the larger plan being constructed.