A novel extension to Graphplan on a dynamic set of objects

We introduce a novel extension to the classic Graphplan. Graphplan is based on the assumption that the initial set of objects is not changeable during planning. This assumption is not true in some cases. That is to say, the planning problems involving creating and destroying objects dynamically canpsilat be solved with classic Graphplan. In this paper, classic Graphplan is extended to solve the planning problems that involve a dynamic set of objects. The format of goals and operators are also be modified accordingly. Our extension is given from the point of implementation view. This extension has broadened the application fields of the classic Graphplan.