Extending Graphplan to Handle the Creating or Destroying Objects Planning

At present, intelligent planning in the Graphplan framework is a focus of artificial intelligence. Creating or Destroying Objects Planning (CDOP) is a kind of unsolved but very important problems of this field. In this paper, we make research on such planning problems, divide them into two types and give intensive analysis respectively. We first bring forward the idea of transforming objects into propositions, based on which we transform mutex between objects into mutex between propositions handled easily. In addition, we offer an algorithm called Creating or Destroying Objects in the Graphplan framework (CDOGP) and analyze it thoroughly. Compared with Graphplan, the new algorithm can solve not only the entire problems Graphplan can do, but also a part of CDOP. As our work is still in the Graphplan framework, we can apply the improvements on Graphplan to CDOGP conveniently.