---
title: "Planning in a Hierarchy of Abstraction Spaces"
authors:
  - "Earl D. Sacerdoti"
doi: ""
url: "https://ijcai.org/proceedings/1973/53"
pdf: "https://ijcai.org/proceedings/1973/0053.pdf"
venue: "Proceedings of the Third International Joint Conference on Artificial Intelligence"
year: 1973
pages: "412-421"
track: "Robot Problem Solving"
keywords:
---

# Planning in a Hierarchy of Abstraction Spaces

Earl D. Sacerdoti

*Proceedings of the Third International Joint Conference on Artificial Intelligence*, pages 412-421.

## Abstract

A problem domain can be represented as a hierarchy of abstraction spaces in which s uccessiv e ly finer levels of detail are introduced. The problem solver ABSTRIPS, a modification of STRIPS, can define an ab~traction space hierarchy from the STRIPS representation of a problem dom ain, and it can utili ze the hierarchy in solving problems. Examples of the system's performance are presented that demonstrate the si g nificant increases in problem-solving power that this approach provides. Then some further implications of the hierarchical planning approach are explored. Key Words; Problem solving, heuristic search, representation, abstraction space, rob ot planning, hierarchic al planning.