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8.6.4.        Elevator

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.

 

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Next: Freecell Up: The GRT Planning System Previous: Gripper

Ioannis Refanidis

14-8-2001