Generalized Planning with Loops under Strong Fairness Constraints

We consider a generalized form of planning, possibly involving loops, that arises in nondeterministic domains when explicit strong fairness constraints are asserted over the planning domain. Such constraints allow us to specify the necessity of occurrence of selected effects of nondeterministic actions over domain’s runs. Also they are particularly meaningful from the technical point of view because they exhibit the expressiveness advantage of LTL over CTL in verification. We show that planning for reachability and maintenance goals is EXPTIME-complete in this setting, that is, it has the same complexity as conditional planning in nondeterministic domains (without strong fairness constraints). We also show that within the EXPTIME bound one can solve the more general problems of realizing agent planning programs as well as composition-based planning in the presence of strong fairness constraints.