Fast Forward (FF) Forward-chaining heuristic search planner Basic principle: Hill-climb through the space of problem states, starting at the initial state Each child state results from apply a single plan operator Always moves to the first child state found that is closer to the goal Records the operators applied along the path E The operators leading to the goal constitute a plan Outline Introduction to ff FF Search Algorithm FF Heuristic Fn FF Example AppendiX: HSPFast Forward (FF) ƒ Forward-chaining heuristic search planner ƒ Basic principle: Hill-climb through the space of problem states, starting at the initial state. ƒ Each child state results from apply a single plan operator. ƒ Always moves to the first child state found that is closer to the goal. ƒ Records the operators applied along the path. ÖThe operators leading to the goal constitute a plan. Outline ƒ Introduction to FF ƒ FF Search Algorithm ƒ FF Heuristic Fn ƒ FF Example ƒ Appendix: HSP