RRT-Plan: A randomized algorithm for STRIPS planning

We propose a randomized STRIPS planning algorithm called RRT-Plan. This planner is inspired by the idea of Rapidly ex-ploring Random Trees, a concept originally designed for use in continuous path planning problems. Issues that arise in the conversion of RRTs from continuous to discrete spaces are discussed, and several additional mechanisms are proposed to improve performance. Our experimental results indicate that RRT-Plan is competitive with the state of the art in STRIPS planning