27 Planning and Robots James Doran

The solution to this simple problem would then guide the solution of the original problem. Minsky (1961) has discussed complex planning of this'homomorphic model' type, and has stressed the potential reduction in total search effort to be won. In the same paper he has also considered the use of semantic models' as a form of complex planning in a mathematical context. The successful geometry theorem-proving program of Gelernter (1959), which used a diagram' to test the validity of propositions, is a wellknown example of this form of planning. Recently Sandewall (1969) has defined a Planning Problem Solver (P P This is an attempt to explore in detail complex planning of the homomorphic model' type as applied to the