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The Ariadne's Clew Algorithm Problem Solving and Planning

We present a general planning strategy to plan the motions of an agent having to explore a continuous state space in order to reach one or several goals. We propose a practical method to implement this technique based on a genetic algorithm and we illustrate the approach on the problem of controlling a mobile robot moving in a maze and looking for several items. Finally, we show that this planning strategy may serve as a possible control structure for an autonomous system.