The POCL (SNLP/McAllester&Rosenblitt) Algorithm
Initialize P ? the NULL plan
Solution check: if P has no flaws, succeed
- a flaw is an open condition or potential threat
Otherwise
- Choose some flaw in P, F
- Choose some method to repair F; if none, fail
- if F is an open condition, methods are the existing plan steps or any operator that asserts the condition can be added to the plan
- if F is a threat, then promote, demote, or separate