Abstract
Plan-space planning differs from state-space planning not only in its search space but also in its definition of a solution plan. Plan-space planning uses a more general plan structure than a sequence of actions. In plan-space planning, planning is considered as two separate operations: (1) the choice of actions, and (2) the ordering of the chosen actions so as to achieve the goal. A plan is defined as a set of planning operators together with ordering constraints and binding constraints; it may not correspond to a sequence of actions. This chapter details the search space. Algorithms for plan-space planning are proposed and several extensions are considered in this chapter. A comparison to state-space planning is presented in a section. The chapter ends with discussions and exercises.
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