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.
Note that also ˜wk 1 corresponds to an arc in G labelled by ˜wk 1 and its corresponding cost ¯C( ˜wk 1)
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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.