---
title: "Cost-Optimal Planning with Landmarks"
authors:
  - "Erez Karpas"
  - "Carmel Domshlak"
doi: ""
url: "https://ijcai.org/proceedings/2009/288"
pdf: "https://ijcai.org/proceedings/2009/0288.pdf"
venue: "Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence"
year: 2009
pages: "1728-1732"
track: ""
keywords:
---

# Cost-Optimal Planning with Landmarks

Erez Karpas, Carmel Domshlak

*Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence*, pages 1728-1732.

## Abstract

Planning landmarks are facts that must be true at some point in every solution plan. Previous work has very successfully exploited planning landmarks in satisficing (non-optimal) planning. We propose a methodology for deriving admissible heuristic estimates for cost-optimal planning from a set of planning landmarks. The resulting heuristics fall into a novel class of multi-path dependent heuristics, and we present a simple best-first search procedure exploiting such heuristics. Our empirical evaluation shows that this framework favorably competes with the state-of-the-art of cost-optimal heuristic search.Erez Karpas, Carmel Domshlak