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TP4 [Haslum GeffnerHaslum Geffner2001] is a development of the HSP [Bonet, Loerincs, GeffnerBonet et al.1997] planning approach, which was one of the first of the current generation of rather successful heuristic state-space search planners based on relaxed plan heuristics. TP4 extends the use of the heuristic to manage temporal plan structure. The planner is intended to find optimal plans (although, for minor technical reasons, some of the plans it produces are slightly sub-optimal), by using an admissible heuristic, and this requires a far greater search effort than in planners constructing plans that are merely heuristically good.

Derek Long 2003-11-06