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FF has been an extremely successful and influential planner since 2000 [Hoffmann NebelHoffmann Nebel2000]. It is based on forward state space search using relaxed plans to give heuristic guidance in its choice between possible steps through the space. Hoffmann extended the original FF system [HoffmannHoffmann2003a] to include a treatment of metric domains by relaxing the metric dimensions of the problem as well as the logical dimensions.

Derek Long 2003-11-06