Inspired by probabilistic path planning, we contribute a planning approach that probabilistically balances heuristics and past plans as guidance to planning search. Our ERRT-PLAN algorithm generates multiple search branches probabilistically choosing to extend them towards the current goal or towards actions or goals of a past given plan. We have defined domains to show where current techniques could be trapped. Also, we show experimental results with a variety of domains, where we show the strengths of ERRT-PLAN. Introduction and Related Work As the complexity of planning is realized, researchers create a variety of planning approaches to try to increase the scalability horizon of their planning search. We view three different classes of domain-independent approaches to automated planning, as we sketch in Figure 1.1 Given a domainD, and a new problem P , planners can extract domainindependent heuristics to guide their search. Such “Planning from scratch” has shown to be very efficient in large classes of problems, as is the case of forward-chaining search using a combination of a well-informed heuristic, coming from a relaxed planning graph (Hoffmann & Nebel 2001). “Planning with learning” can in addition rely on training experience as compiled into domain-dependent heuristics. And “Planning with reuse” can use specific past solution plans. In this work, we focus on planning with reuse, as we assume that a similar past solution plan may be available in several situations where the new planning problem naturally just deviates from a past problem, as for example may be the case when there is a need for replanning during plan execution. Thus, according to the three classes of domain-independent guidance defined in Figure 1, the closest related works to the one presented in this paper are reuse approaches. They could We leave out from this classification all domain-dependent planning approaches, as Hierarchical Task Networks (Nau et al. 2003) or approaches based on manually defined domain-dependent heuristics (Bacchus & Kabanza 2000). Planning from scratch P D ? Domain Independent
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