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NaffPlan: Growing Real-World Plan Graphs

GraphPlan style planning techniques have generated a substantial amount of interest since they were introduced five years ago. GraphPlan alternates between plan graph generation and searching the plan graph. Attention has so far focused almost exclusively on the search aspects of the problem. However, I claim that existing plan graph generation algorithms (for standard GraphPlan and MEA-GraphPlan) do not scale to real-world problems, suffering as they do from distraction: that is, unacceptable growth rates caused by paying attention to details that cannot possibly be part of the solution. This paper introduces a new plan graph generation algorithm, NaffPlan, that does not suffer from distraction while offering the advantages of both the GraphPlan and MEA-GraphPlan approaches.