Let us reconsider the SUSSMAN ANOMALY
Constraint posting has emerged as a central technique in recent planning systems (E.g. MOLGEN and TWEAK)
Constraint posting builds up a plan by:
The initial plan consists of no steps and by studying the goal state ideas for the possible steps are generated.
There is no order or detail at this stage.
Gradually more detail is introduced and constraints about the order of subsets of the steps are introduced until a completely ordered sequence is created.
In this problem means-end analysis suggests two steps with end conditions ON(A,B) and ON(B,C) which indicates the operator STACK giving the layout shown below where the operator is preceded by its preconditions and followed by its post conditions:
CLEAR(B) CLEAR(C)*HOLDING(A) *HOLDING(B)
__________________ __________________
STACK(A,B) STACK(B,C)
__________________ __________________
ARMEMPTY ARMEMPTY
ON(A,B) ON(B,C)
CLEAR(B) CLEAR(C)
HOLDING(A) HOLDING(B)
NOTE:
Many planning methods have introduced heuristics to achieve goals or preconditions. The TWEAK planning method brought all these together under one formalism. Other methods that introduced/used the following heuristics are mentioned in brackets in the following section.