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http://dx.doi.org/10.3745/KIPSTB.2008.15-B.2.159

A Heuristic Search Planner Based on Component Services  

Kim, In-Cheol (경기대학교 컴퓨터과학과)
Shin, Hang-Cheol (경기대학교 컴퓨터과학과)
Publication Information
The KIPS Transactions:PartB / v.15B, no.2, 2008 , pp. 159-170 More about this Journal
Abstract
Nowadays, one of the important functionalities required from robot task planners is to generate plans to compose existing component services into a new service. In this paper, we introduce the design and implementation of a heuristic search planner, JPLAN, as a kernel module for component service composition. JPLAN uses a local search algorithm and planning graph heuristics. The local search algorithm, EHC+, is an extended version of the Enforced Hill-Climbing(EHC) which have shown high efficiency applied in state-space planners including FF. It requires some amount of additional local search, but it is expected to reduce overall amount of search to arrive at a goal state and get shorter plans. We also present some effective heuristic extraction methods which are necessarily needed for search on a large state-space. The heuristic extraction methods utilize planning graphs that have been first used for plan generation in Graphplan. We introduce some planning graph heuristics and then analyze their effects on plan generation through experiments.
Keywords
Component Service; State-Space Planning; Local Search; Planning Graph Heuristics;
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