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OCLGraph: Exploiting Object Structure in a Plan Graph Algorithm

By R.M. Simpson, T.L. McCluskey and D. Liu


In this paper we discuss and describe preliminary results of integrating two strands of planning research - that of using plan graphs to speed up planning, and that of using object representations\ud to better represent planning domain models. To this end we have designed and implemented OCL-graph, a plan generator which builds and searches an object-centred plan graph, extended to deal with conditional effects

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