Fast Goal-directed Graphplan Based on Interfering Actions

The goal-directed Graphplan algorithm can effectively reduce the width of the planning graph which expands the planning graph backwards from the goal set and searches a valid plan forwards. In this paper, after studying and analyzing the Graphplan, goal-directed Graphplan and directional-paralleled Graphplan, we propose a new goal-directed Graphplan algorithm based on interfering actions. The algorithm eliminates the redundant proposition levels and reduces the time step, then the fast plan will be realized.