In: Information Sciences, Vol. 57--58, pages 361-384. 1991.
Abstract: Performing actions concurrently can be conveniently modeled with a predicate-transition net (pr/t net). The authors provide an algorithm to construct a pr/t net model for a robot planning system represented in a STRIPS-like specification language. By applying a special linear search algorithm to the pr/t net model, one can obtain a plan in which parallel actions are explicitly shown. The idea behind the search strategy algorithm is based on a combination of bidirectional search and means-ends analysis. The search strategy expands fewer nodes than other search algorithms.
Keywords: predicate-transition net model (for) multiple agent planning; robot planning system; STRIPS-like specification language; linear search algorithm; parallel actions; bidirectional search; means-ends analysis.