Finite State Controllers (FSCs) are an effective way#R##N#to represent sequential plans compactly. By imposing#R##N#appropriate conditions on transitions, FSCs#R##N#can also represent generalized plans that solve a#R##N#range of planning problems from a given domain.#R##N#In this paper we introduce the concept of hierarchical#R##N#FSCs for planning by allowing controllers#R##N#to call other controllers. We show that hierarchical#R##N#FSCs can represent generalized plans more compactly#R##N#than individual FSCs. Moreover, our call#R##N#mechanism makes it possible to generate hierarchical#R##N#FSCs in a modular fashion, or even to apply#R##N#recursion. We also introduce a compilation that#R##N#enables a classical planner to generate hierarchical#R##N#FSCs that solve challenging generalized planning#R##N#problems. The compilation takes as input a set of#R##N#planning problems from a given domain and outputs#R##N#a single classical planning problem, whose solution#R##N#corresponds to a hierarchical FSC.
['Javier Segovia-Aguas', 'Sergio Jiménez', 'Anders Jonsson']
Hierarchical finite state controllers for generalized planning