Compilation Schemes: A Theoretical Tool for Assessing the Expressive Power of Planning Formalisms
The recent approaches of extending the graphplan algorithm to handle more expressive planning formalisms raise the question of what the formal meaning of “expressive power” is. We formalize the intuition that expressive power is a measure of how concisely planning domains and plans can be expressed in a particular formalism by introducing the notion of “compilation schemes” between planning formalisms. Using this notion, we analyze the expressive power of a large family of propositional planning formalisms and show, e.g., that Gazen and Knoblock’s approach to compiling conditional effects away is optimal.
KeywordsExpressive Power Propositional Variant Propositional Atom Planning Formalism Propositional Formula
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