

![0_image_0.png](0_image_0.png)

attempted. In terms of plan quality, very often lpg-quality generates plans that are nearly

```
as good as those 
                 omputed by the hand-
                                        oded planners, espe
                                                            ially in Rovers-SimpleTime-

```

HandCoded. Interestingly, given that the ma hine used to test lpg was slower, in this domain lpg-speed appears to perform slightly better than shop2 (Nau, Au, Ilghami, Kuter,

```
Murdo
    k, Wu, & Yaman, 2003). In Rovers-Time-HandCoded lpg-speed 
                                               an solve most of
                                                          

```

the problems, but it does not perform as well. It remains an open question whether further

```
resear
     h 
        an redu
                e this gap signi
                               antly, but we are optimisti
                                                        about this.
                                                                 

```
