Planning as constraint satisfaction: Solving the planning graph by compiling it into CSP☆
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Keywords
Planning
CSP compilation
Constraint satisfaction
Graphplan
Encodings
EBL
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A preliminary version was first presented at the 5th International Conference on AI Planning and Scheduling [8]. We thank Biplav Srivastava for explaining the inner workings of van Beek and Chen's constraint solver, and Terry Zimmerman for many useful comments on the earlier drafts of this paper. We also thank Peter van Beek for putting his CSP library in the public domain, and patiently answering our questions. This research is supported in part by NSF young investigator award (NYI) IRI-9457634, ARPA/Rome Laboratory planning initiative grant F30602-95-C-0247, AFOSR grant F20602-98-1-0182 and NSF grant IRI-9801676. The source code of the planner is available for downloading at http://rakaposhi.eas.asu.edu/gp-csp.html.
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