Lessons Learned Developing a Planning System
We discuss engineering lessons learned while developing a planning system. We reaffirm not only well known techniques of software engineering such as top-down structured programming, but we also discuss our own policies (the good, the bad and the unimplemented) from which others might choose or avoid to their benefit. Another category of lessons learned is knowledge of what we do not know how to do. An example of this is pattern matching across plan nodes. We also discuss useful ideas which have evolved from the planning project. Examples of these include a one stage Rete network, coreferentiality, asynchronous plan development, and priority of constraint rules.
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