Memory-Efficient Symbolic Heuristic Search

A promising approach to solving large state-space search problems is to integrate heuristic search with symbolic search. Recent work shows that a symbolic A * search al-gorithm that uses binary decision diagrams to compactly rep-resent sets of states outperforms traditional A * in many do-mains. Since the memory requirements of A * limit its scal-ability, we show how to integrate symbolic search with a memory-efficient strategy for heuristic search. We analyze the resulting search algorithm, consider the factors that affect its behavior, and evaluate its performance in solving bench-mark problems that include STRIPS planning problems

Taming Numbers and Durations in the Model Checking Integrated Planning System

The Model Checking Integrated Planning System (MIPS) is a temporal least commitment heuristic search planner based on a flexible object-oriented workbench architecture. Its design clearly separates explicit and symbolic directed exploration algorithms from the set of on-line and off-line computed estimates and associated data structures. MIPS has shown distinguished performance in the last two international planning competitions. In the last event the description language was extended from pure propositional planning to include numerical state variables, action durations, and plan quality objective functions. Plans were no longer sequences of actions but time-stamped schedules. As a participant of the fully automated track of the competition, MIPS has proven to be a general system; in each track and every benchmark domain it efficiently computed plans of remarkable quality. This article introduces and analyzes the most important algorithmic novelties that were necessary to tackle the new layers of expressiveness in the benchmark problems and to achieve a high level of performance. The extensions include critical path analysis of sequentially generated plans to generate corresponding optimal parallel plans. The linear time algorithm to compute the parallel plan bypasses known NP hardness results for partial ordering by scheduling plans with respect to the set of actions and the imposed precedence relations. The efficiency of this algorithm also allows us to improve the exploration guidance: for each encountered planning state the corresponding approximate sequential plan is scheduled. One major strength of MIPS is its static analysis phase that grounds and simplifies parameterized predicates, functions and operators, that infers knowledge to minimize the state description length, and that detects domain object symmetries. The latter aspect is analyzed in detail. MIPS has been developed to serve as a complete and optimal state space planner, with admissible estimates, exploration engines and branching cuts. In the competition version, however, certain performance compromises had to be made, including floating point arithmetic, weighted heuristic search exploration according to an inadmissible estimate and parameterized optimization

Advances in Functional Decomposition: Theory and Applications

Functional decomposition aims at finding efficient representations for Boolean functions. It is used in many applications, including multi-level logic synthesis, formal verification, and testing. This dissertation presents novel heuristic algorithms for functional decomposition. These algorithms take advantage of suitable representations of the Boolean functions in order to be efficient. The first two algorithms compute simple-disjoint and disjoint-support decompositions. They are based on representing the target function by a Reduced Ordered Binary Decision Diagram (BDD). Unlike other BDD-based algorithms, the presented ones can deal with larger target functions and produce more decompositions without requiring expensive manipulations of the representation, particularly BDD reordering. The third algorithm also finds disjoint-support decompositions, but it is based on a technique which integrates circuit graph analysis and BDD-based decomposition. The combination of the two approaches results in an algorithm which is more robust than a purely BDD-based one, and that improves both the quality of the results and the running time. The fourth algorithm uses circuit graph analysis to obtain non-disjoint decompositions. We show that the problem of computing non-disjoint decompositions can be reduced to the problem of computing multiple-vertex dominators. We also prove that multiple-vertex dominators can be found in polynomial time. This result is important because there is no known polynomial time algorithm for computing all non-disjoint decompositions of a Boolean function. The fifth algorithm provides an efficient means to decompose a function at the circuit graph level, by using information derived from a BDD representation. This is done without the expensive circuit re-synthesis normally associated with BDD-based decomposition approaches. Finally we present two publications that resulted from the many detours we have taken along the winding path of our research