The Research on the Planning Problem with the Set of Objects Dynamically Infinitely Changing

Presently, intelligent planning under the Graphplan framework is a hot focus in the field of artificial intelligence. And the creating or destroying objects planning (CDOP) is an important problem in this field. But in the real world, many practice planning problems are the planning problems with the set of objects dynamically infinitely changing. This problem is presented by Wen-xiang Gu and Zeng-yu Cai in 2005, but till now it hasn´t any advance about it. In this paper, we research the planning problem with the set of objects dynamically infinitely changing, and we present the concept of helpful object and the concept of local level off of the planning graph, offer a new algorithm which based on the creating or destroying objects Graphplan algorithm to handle the planning problem with the set of objects dynamically infinitely changing. The new algorithm can solve not only the entire problems Graphplan and CDOGP can do, but also it can solve a part of the planning problems with the set of objects dynamically infinitely changing. Because the new algorithm is still based on the Graphplan, so it also could apply to the extensions of Graphplan, such as conditional effects, probabilistic planning problem, FF planner and so on.