Macro actions for structures

It is not surprising that structures underly many of the problems that we find interesting in planning. However, the planners that we develop are not always capable of acting on them as they increase in size. For example, the errors caused through relaxations in a heuristic can grow quickly when acting on a structure. Macro actions can help to compensate for heuristic error; however, researchers have investigated finite length macro actions limiting the benefit when the underlying problem is an arbitrary sized structure. In this work we design a specific set of arbitrary length macros, providing a vocabulary for acting on structures