A Tutorial on Planning Graph-Based

The primary revolution in automated planning inthe last decade has been the very impressive scale-up in planner performance. A large part of thecredit for this can be attributed squarely to theinvention and deployment of powerful reachabili-ty heuristics. Most, if not all, modern reachabilityheuristics are based on a remarkably extensibledata structure called the planning graph, whichmade its debut as a bit player in the success ofGraphPlan, but quickly grew in prominence tooccupy the center stage. Planning graphs are acheap means to obtain informative look-aheadheuristics for search and have become ubiquitousin state-of-the-art heuristic search planners. Wepresent the foundations of planning graph heuris-tics in classical planning and explain how theirflexibility lets them adapt to more expressive sce-narios that consider action costs, goal utility,numeric resources, time, and uncertainty.

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