Plan
BlackBox is a
fast planner for
generating plans
from a known
initial state
Conflict-based Repair
Graphplan/SAT
translator
SAT
Solver
Domain Action Model
BlackBox
(Kautz & Selman, IJCAI 99)
Goal
SAT encoding
that will choose
a state and plan
Candidate Plan
Existing State Estimator
Belief
State
Generator
Conflict
Detection
Nogoods that rule out a family of
plans that are unsafe
when
considered on all
possible states
Possible
states
State
Choice
Action
Adapter
Safety
Constraints
