The elevator (or miconic-10)
domain has been presented in Section 3.3. At least in its pure Strips version, it is a relatively easy domain. So, all
planners found plans of equal quality (with the exception of Hsp-2, which produced slightly more
lengthy plans). However, the planners have different performance in terms of
solution time.
Specifically, Ff was the fastest, followed by Stan, then Grt, then Hsp-2
and finally Altalt. This domain
favors Ff, because the relaxed
plan produced by its heuristic mechanism for the initial state is actually the
solution, since the original actions of the domain do not contain any delete
lists. Stan identifies this
domain as a transportation domain and uses suitable techniques to solve the
problem. Finally, Grt is faster
than Hsp-2 and Altalt, since Grt constructs its heuristic faster than Hsp-2. The results are presented in
Figure 19.
Figure 19: Solution time (in msecs) in the elevator
domain.
Ioannis
Refanidis
14-8-2001