Abstract
Abstraction is a powerful technique in search and planning. A fundamental problem of abstraction is that it can create spurious paths, i.e., abstract paths that do not correspond to valid concrete paths. In this paper, we define spurious paths as a generalization of spurious states. We show that spurious paths can be categorized into two types: state-independent spurious paths and state-specific spurious paths. We present a practical method that eliminates state-independent spurious paths, as well as state-specific spurious paths when integrated with mutex detection methods. We provide syntactical conditions under which our method can remove state-independent spurious paths completely. We demonstrate that eliminating spurious paths can improve a heuristic substantially, even in abstract spaces that are free of spurious states.
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