Improving Execution Concurrency in Partial-Order Plans via Block-Substitution

ArXi:2406.18615v2 Announce Type: replace Partial-order plans in AI planning facilitate execution flexibility and several other tasks, such as plan reuse, modification, and decomposition, due to their less constrained nature. A \acrfull*{pop} specifies partial-order over actions, providing the flexibility of executing unordered actions in different sequences. This flexibility can be further extended by enabling parallel execution of actions in the POP to reduce its overall execution time.