Complete determination of parallel actions and temporal optimization in linear plans of action

  • Pierre Regnier
  • Bernard Fade
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 522)


Traditional non-linear planners (NOAH, NONLIN, SIPE, …) construct plans of actions by progressively introducing and partially ordering actions in the initial plan to satisfy a set of constraints. On the other hand, our method, using the triangle table formalism, enables the planner to easily determine, in linear (over constrained) plans, all actions which can be executed in parallel (removing from the linear plan all the artificial order constraints). This information may then be used by a classical algorithm to optimize the resulting plan’s execution time.


Linear plans of action non-linear planning parallel actions triangle table temporal optimization 


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Copyright information

© Springer-Verlag Berlin Heidelberg 1991

Authors and Affiliations

  • Pierre Regnier
    • 1
  • Bernard Fade
    • 1
  1. 1.Equipe IA et Robotique, IRITUniversité Paul SabatierToulouse cedex

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