Abstract
Hierarchical planning is widely acknowledged as an effective technique for reducing search, but the properties that make the technique effective are not well understood. This paper formally defines hierarchical planning, shows that the technique can reduce an exponential search space to a linear one, and identifies the assumptions under which this analysis holds. Since these assumptions would be difficult to guarantee in general, the paper identifies the monotonicity property, a heuristic for evaluating abstraction spaces. Lastly, the paper presents an algorithm for producing abstractions with this property and then describes how the algorithm completely automates a reformulation of the Tower of Hanoi puzzle, which reduces the search space of the puzzle from exponential to linear.KeywordsSearch SpaceBase SpaceMonotonicity PropertyAbstraction LevelAbstract SpaceThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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