In order to solve contingent planning problems where the goal is initially not reachable, it is necessary to allow a planner to search for a plan, to introduce assumptions under which a solution might exist. Here, such assumptions are embedded in the problem, and encoded as actions with high cost. The CLG+ planner is built on top of CLG, with the difference that it allows to search for solution plans even in those problems that can have a priori no solution.

Source Code


  • Albore, A., Geffner, H.: Acting in Partially Observable Environments When Achievement of the Goal Cannot be Guaranteed. Workshop on Planning and Plan Execution for Real-World Systems (ICAPS'09). , Thessaloniki, Greece (2009).

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