Guided Symbolic Universal Planning

Rune Møller Jensen, Manuela M. Veloso, Randal E. Bryant

Research output: Conference Article in Proceeding or Book/Report chapterArticle in proceedingsResearchpeer-review


Symbolic universal planning based on the reduced Ordered Binary Decision Diagram (OBDD) has been shown to be an efficient approach for planning in non-deterministic domains. To date, however, no guided algorithms exist for synthesizing universal plans. In this paper, we introduce a general approach for guiding universal planning based on an existing method for heuristic symbolic search in deterministic domains. We present three new sound and complete algorithms for best-first strong, strong cyclic, and weak universal planning. Our experimental results show that guiding the search dramatically can reduce both the computation time and the size of the generated plans.
Original languageEnglish
Title of host publicationProceedings of the 13th International Conference on Automated Planning and Scheduling (ICAPS-03)
Number of pages10
PublisherAAAI Press
Publication date2003
ISBN (Print)978-1-57735-187-0
Publication statusPublished - 2003


  • Symbolic universal planning
  • Ordered Binary Decision Diagram (OBDD)
  • Heuristic symbolic search
  • Non-deterministic domains
  • Algorithm efficiency


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