Improving Plan Execution Flexibility using Block-Substitution

ArXi:2406.03091v2 Announce Type: replace Partial-order plans in AI planning facilitate execution flexibility due to their less-constrained nature. Maximizing plan flexibility has been studied through the notions of plan deordering, and plan reordering. Plan deordering removes unnecessary action orderings within a plan, while plan reordering modifies them arbitrarily to minimize action orderings. This study, in contrast with traditional plan deordering and reordering strategies, improves a plan's flexibility by substituting its subplans with actions outside the plan for a planning problem.