Precondition Control and the Progression Algorithm

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We consider the problem of planning with declarative search control in the framework of the situation calculus. In particular, we are concerned with forwardchaining planning with search control expressed by linear temporal logic formulas in the style of Bacchus &aamp; Kabanza’s TLPlan system. We introduce a procedure for extracting conditions which can then be evaluated on plan prefixes for enforcing search control. These conditions are situation calculus formulas whose entailment can be checked by regression and can be used as further preconditions of actions in nonMarkovian action theories and in some cases in classical Markovian theories through a transformation procedure. We show that these conditions eliminate exactly the same plan prefixes as the Progression algorithm of the TLPlan system.