Overview Uses Strips-like operator but adds time and metric resources to the planning description: Planning Domain Definition Language(PDDL)2.1 · Features ses Temporal Action graphs(TA-graphs): Similar to a plan graph, but adds temporal representation ses stochastic local search: Similar to Walksat Uses relaxed plan for heuristic to guide the search: similar to fe LPG outperformed all general purpose planners in the time and metric resource domains (3d IPC) Linear Action Graph(LA-graph NiT Level 1 Level 2 Level 3 Level 4 One action er layer @一网3 Overview • resources to the planning description: Planning Domain Definition Language (PDDL) 2.1 • – plan graph, but adds temporal representation – – to FF • the time and metric resource domains (3rd IPC) 4 INIT Level 1 Level 2 Level 3 Level 4 Linear Action Graph (LA-graph) f1 f2 f3 f4 f5 no-op f6 f3 f4 f5 f6 f9 f5 f6 f12 f5 f13 f12 f5 no-op no-op no-op no-op no-op a1 no-op no-op f7 f7 f7 no-op no-op a4 f10 a2 a no-op 3 One action per layer Uses Strips-like operator but adds time and metric Features: Uses Temporal Action graphs (TA-graphs): Similar to a Uses stochastic local search: Similar to Walksat Uses relaxed plan for heuristic to guide the search: similar LPG outperformed all general purpose planners in