The paper introduces a reconfigurable algorithm for optimal planning in HFSMs that precomputes machine exit costs to enable efficient queries and outperforms standard shortest-path algorithms on large instances.
The other cases are totally analogous to the FSM proof and we refer to
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Efficient Planning in Large-scale Systems Using Hierarchical Finite State Machines
The paper introduces a reconfigurable algorithm for optimal planning in HFSMs that precomputes machine exit costs to enable efficient queries and outperforms standard shortest-path algorithms on large instances.