Bäckström, C. and Klein, I. (1991). Parallel Non-Binary Planning in Polynomial Time: The SAS-PUS Class. Technical Report LiTH-IDA-R-91-11, Department of Computer and Information Science, Linköping University, Sweden. A short version is accepted to the 12th International Joint Conference on Artificial Intelligence (IJCAI'91). Sydney, Australia, August 24-30, 1991. (bibtex),
Abstract: This paper formally presents a class of planning problems, the SAS-PUS class, which allows non-binary state variables and parallel execution of actions. The class is proven to be tractable, and we provide a sound and complete, polynomial time algorithm for planning within this class. Since the SAS-PUS class is an extension of the previously presented SAS-PUBS class, this result means that we are getting closer to tackling realistic planning problems in sequential control. In such problems, a restricted problem representation is often sufficient but the size of the problems make tractability an important issue.
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