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Planning with Incrementally Created Graphs

与增量创建图表规划

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【时间】: 2002-07-01
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A framework for planning algorithms that is both optimal and complete will be presented that allows for the planning of optimal paths through a multi-level hierarchy of annotated graph spaces. A rich world model that contains multi-resolution attributes, costs, and predicates controls the integrated incremental construction and evaluation of the planning graph in dynamic environments. The properties of this framework are proven and a number of example problem domains are presented that show how this framework can incorporate both hard and soft constraints during both graph construction and arc evaluation.