While  abstraction-based  heuristics  is  still  an  active  research  area  (cf.  the  papers  by  Geißer  et al. [37],  Pommerening 
et al. [77], and Steinmetz and Torralba [87]), it may seem as if reﬁnement has come out of fashion in planning. There are, 
however,  some  recent  examples  of  reviving  this  method.  For  instance,  Seipp  and  Helmert [83] consider  plan  reﬁnement 
using cartesian abstraction functions and Saribatur et al. [81] suggest encoding planning instances as instances of Answer 
set  programming  and  then  use  abstraction  reﬁnement  on  the  latter.  Reﬁnement  has  also  continued  to  be  used  in  other 
related  areas  such  as  path  planning [88] and  model  checking [19].  Since  action  planning  and  path  planning  must  often 
be performed together in robotics, it may be interesting to consider reﬁnement methods also for action planning in this
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