Scope and abstraction: two criteria for localized planning

Localization is a general-purpose representational technique for partitioning a problem into subproblems A localized problem-solver searches several smaller search spaces, one for each subproblem Unlike most methods of partitioning, however, localization allows for subproblems that overlap- 1 e multiple search spaces may be involved in constructing shared pieces of the overall plan In this paper we focus on two criteria for forming localizations scope and abstraction We describe a method for automatically generating such localizations and provide empirical results that contrast their use in an office-building construction domain 1