| Planning Benchmarks / Part I： |
| The Role of Benchmarks / 1： |
| Evaluating Planner Performance / 1.1： |
| Worst-Case Evaluation / 1.1.1： |
| Average-Case Evaluation / 1.1.2： |
| Planning Benchmarks Are Important / 1.2： |
| Theoretical Analyses of Planning Benchmarks / 1.3： |
| Why Theoretical Analyses Are Useful / 1.3.1： |
| Published Results on Benchmark Complexity / 1.3.2： |
| Standard Benchmarks / 1.4： |
| Summary and Overview / 1.5： |
| Defining Planning Domains / 2： |
| Optimization Problems / 2.1： |
| Minimization Problems / 2.1.1： |
| Approximation Algorithms / 2.1.2： |
| Approximation Classes / 2.1.3： |
| Reductions / 2.1.4： |
| Formalizing Planning Domains / 2.2： |
| General Results and Reductions / 2.3： |
| Upper Bounds / 2.3.1： |
| Shortest Plan Length / 2.3.2： |
| Approximation Classes of Limited Interest / 2.3.3： |
| Relating Planning and (Bounded) Plan Existence / 2.3.4： |
| Generalization and Specialization / 2.3.5： |
| The Benchmark Suite / 3： |
| Defining the Competition Domains / 3.1： |
| IPC1 Domains / 3.2： |
| IPC2 Domains / 3.2.2： |
| IPC3 Domains / 3.2.3： |
| IPC4 Domains / 3.2.4： |
| Domains and Domain Families / 3.3： |
| Transportation and Route Planning / 4： |
| Transport and Route / 4.1： |
| The Transport Domain / 4.1.1： |
| The Route Domain / 4.1.2： |
| Special Cases and Hierarchy / 4.1.3： |
| General Results / 4.2： |
| Plan Existence / 4.3： |
| Hardness of Optimization / 4.4： |
| Constant Factor Approximation / 4.5： |
| Hardness of Constant Factor Approximation / 4.6： |
| Summary / 4.7： |
| Beyond Transport and Route / 4.8： |
| IPC Domains: Transportation and Route Planning / 5： |
| Gripper / 5.1： |
| Mystery and Mystery Prime / 5.2： |
| Logistics / 5.3： |
| Zenotravel / 5.4： |
| Depots / 5.5： |
| Miconic-10 / 5.6： |
| Rovers / 5.7： |
| Grid / 5.8： |
| Driverlog / 5.9： |
| Airport / 5.10： |
| IPC Domains: Others / 5.11： |
| Assembly / 6.1： |
| Blocksworld / 6.2： |
| Freecell / 6.3： |
| Movie / 6.4： |
| Pipesworld / 6.5： |
| Promela / 6.6： |
| PSR / 6.7： |
| Satellite / 6.8： |
| Schedule / 6.9： |
| Conclusions / 6.10： |
| Ten Conclusions / 7.1： |
| Going Further / 7.2： |
| Fast Downward / Part II： |
| Solving Planning Tasks Hierarchically / 8： |
| Introduction / 8.1： |
| Related Work / 8.2： |
| Causal Graphs and Abstraction / 8.2.1： |
| Causal Graphs and Unary STRIPS Operators / 8.2.2： |
| Multi-Valued Planning Tasks / 8.2.3： |
| Architecture and Overview / 8.3： |
| Translation / 9： |
| PDDL and Multi-valued Planning Tasks / 9.1： |
| Translation Overview / 9.2： |
| Normalization / 9.3： |
| Compiling Away Types / 9.3.1： |
| Simplifying Conditions / 9.3.2： |
| Simplifying Effects / 9.3.3： |
| Normalization Result / 9.3.4： |
| Invariant Synthesis / 9.4： |
| Initial Candidates / 9.4.1： |
| Proving Invariance / 9.4.2： |
| Refining Failed Candidates / 9.4.3： |
| Examples / 9.4.4： |
| Grounding / 9.4.5： |
| Overview of Horn Exploration / 9.5.1： |
| Generating the Logic Program / 9.5.2： |
| Translating the Logic Program to Normal Form / 9.5.3： |
| Computing the Canonical Model / 9.5.4： |
| Axiom and Operator Instantiation / 9.5.5： |
| Multi-valued Planning Task Generation / 9.6： |
| Variable Selection / 9.6.1： |
| Converting the Initial State / 9.6.2： |
| Converting Operator Effects / 9.6.3： |
| Converting Conditions / 9.6.4： |
| Computing Axiom Layers / 9.6.5： |
| Generating the Output / 9.6.6： |
| Performance Notes / 9.7： |
| Relative Performance Compared to MIPS Translator / 9.7.1： |
| Absolute Performance / 9.7.2： |
| Knowledge Compilation / 10： |
| Overview / 10.1： |
| Domain Transition Graphs / 10.2： |
| Causal Graphs / 10.3： |
| Acyclic Causal Graphs / 10.3.1： |
| Generating and Pruning Causal Graphs / 10.3.2： |
| Causal Graph Examples / 10.3.3： |
| Successor Generators and Axiom Evaluators / 10.4： |
| Successor Generators / 10.4.1： |
| Axiom Evaluators / 10.4.2： |
| Search / 11： |
| The Causal Graph Heuristic / 11.1： |
| Conceptual View of the Causal Graph Heurstic / 11.2.1： |
| Computation of the Causal Graph Heuristic / 11.2.2： |
| States with Infinite Heuristic Value / 11.2.3： |
| Helpful Transitions / 11.2.4： |
| The FF Heuristic / 11.3： |
| Greedy Best-First Search in Fast Downward / 11.4： |
| Preferred Operators / 11.4.1： |
| Deferred Heuristic Evaluation / 11.4.2： |
| Multi-heuristic Best-First Search / 11.5： |
| Focused Iterative-Broadening Search / 11.6： |
| Experiments / 12： |
| Experiment Design / 12.1： |
| Benchmark Set / 12.1.1： |
| Experiment Setup / 12.1.2： |
| Translation and Knowledge Compilation vs. Search / 12.1.3： |
| Strips Domains from IPC1-3 / 12.2： |
| ADL Domains from IPC1-3 / 12.3： |
| Domains from IPC4 / 12.4： |
| Conclusions from the Experiment / 12.5： |
| Discussion / 13： |
| Major Contributors / 13.1： |
| Multi-valued Representations / 13.2.1： |
| Task Decomposition Heuristics / 13.2.2： |
| Minor Contributions / 13.3： |
| References / 13.4： |
| Index |
| Planning Benchmarks / Part I： |
| The Role of Benchmarks / 1： |
| Evaluating Planner Performance / 1.1： |
ＥＢ
