Computing Plans with Control Flow and Procedures using a Classical Planner

We propose a compilation that enhances a given classical planning task to compute plans that contain control flow and procedure calls. Control flow instructions and procedures al-low us to generate compact and general solutions able to solve planning tasks for which multiple unit tests are defined. The paper analyzes the relation between classical planning and structured programming with unit tests and shows how to ex-ploit this relation in a classical planning compilation. In ex-periments, we evaluate the empirical performance of the com-pilation using an off-the-shelf classical planner and show that we can compress classical planning solutions and that these compressed solutions can solve planning tasks with multiple tests