Pruning techniques based on strong stubborn sets have recently shown their potential for SAS planning as heuristic search. Strong stubborn sets exploit operator independency to safely prune the search space. Like SAS planning, fully observable nondeterministic (FOND) planning faces the state explosion problem. However, it is unclear how stubborn set techniques carry over to the nondeterministics setting. In this paper, we introduce stubborn set pruning to FOND planning. We lift the notion of strong stubborn sets and introduce the conceptually more powerful notion of weak stubborn sets to FOND planning. Our experimental analysis shows that weak stubborn sets are beneficial to an LAO* search, and in particular show favorable performance when combined with symmetries and active operator pruning.

When faced with changing environment, highly configurable software systems need to dynamically search for promising adaptation plan that keeps the best possible performance, e.g., higher throughput or smaller latency -- a typical planning problem for self-adaptive systems (SASs). However, given the rugged and complex search landscape with multiple local optima, such a SAS planning is challenging especially in dynamic environments. In this paper, we propose LiDOS, a lifelong dynamic optimization framework for SAS planning. What makes LiDOS unique is that to handle the "dynamic", we formulate the SAS planning as a multi-modal optimization problem, aiming to preserve the useful information for better dealing with the local optima issue under dynamic environment changes. This differs from existing planners in that the "dynamic" is not explicitly handled during the search process in planning. As such, the search and planning in LiDOS run continuously over the lifetime of SAS, terminating only when it is taken offline or the search space has been covered under an environment. Experimental results on three real-world SASs show that the concept of explicitly handling dynamic as part of the search in the SAS planning is effective, as LiDOS outperforms its stationary counterpart overall with up to 10x improvement. It also achieves better results in general over state-of-the-art planners and with 1.4x to 10x speedup on generating promising adaptation plans.

The early classifications of the computational complexity of planning under various restrictions in STRIPS (Bylander) and SAS+ (Baeckstroem and Nebel) have influenced following research in planning in many ways. We go back and reanalyse their subclasses, but this time using the more modern tool of parameterized complexity analysis. This provides new results that together with the old results give a more detailed picture of the complexity landscape. We demonstrate separation results not possible with standard complexity theory, which contributes to explaining why certain cases of planning have seemed simpler in practice than theory has predicted. In particular, we show that certain restrictions of practical interest are tractable in the parameterized sense of the term, and that a simple heuristic is sufficient to make a well-known partial-order planner exploit this fact.