• While planning it creates a graph called Planning Graph

• Graphplan inserts the TIME dimension in the plan construction process.

• It is a correct and complete planner among the most efficient that have been built

• Graphplan uses the CLOSED WORLD ASSUMPTION falling into the category of off-line planners

• Actions are represented as the ones in STRIPS

  • PRECONDITIONS
  • ADD LIST
  • DELETE LIST

• There is an action no-op that does not change the state (frame problem)

• The planning graph is a directed leveled graph

Examples

Example 1

• We have a cart R and two loads A and B that are in the starting position L and must be moved to the target position P.
• Three actions (we see the syntax later)
  • MOVE (R, PosA, PosB)
  • LOAD (Pos, Object)
  • UNLOAD (Pos, Object)
• Initial State
  • at(a,l)
  • at(b,l)
  • at(r,l)
  • hasFuel(r)

在第一列列出所有的initial state，第二列列出可选的actions加noop，第三列写出省下的state，还在的用实线，删掉的用虚线。
标记出inconsistent effects，也就是两条线指向同一个state的。
标记出interference，也就是从同一个initial state指出多条线的。
标记出completing needs，如果有的话，也就是题目要求达到的状态。