Abstract
We introduce a non-admissible heuristic for planning with action costs, called the set-additive heuristic, that combines the benefits of the additive heuristic used in the HSP planner and the relaxed plan heuristic used in FF. The set-additive heuristic \(h^s_a\) is defined mathematically and handles non-uniform action costs like the additive heuristic h a , and yet like FF’s heuristic \(h_{\textrm{\scriptsize FF}}\), it encodes the cost of a specific relaxed plan and is therefore compatible with FF’s helpful action pruning and its effective enforced hill climbing search. The definition of the set-additive heuristic is obtained from the definition of the additive heuristic, but rather than propagating the value of the best supports for a precondition or goal, it propagates the supports themselves, which are then combined by set-union rather than by addition. We report then empirical results on a planner that we call FF(\(h^s_a\)) that is like FF except that the relaxed plan is extracted from the set-additive heuristic. The results show that FF(\(h^s_a\)) adds only a slight time overhead over FF but results in much better plans when action costs are not uniform.
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Keyder, E., Geffner, H. (2007). Heuristics for Planning with Action Costs. In: Borrajo, D., Castillo, L., Corchado, J.M. (eds) Current Topics in Artificial Intelligence. CAEPIA 2007. Lecture Notes in Computer Science(), vol 4788. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75271-4_15
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DOI: https://doi.org/10.1007/978-3-540-75271-4_15
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