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Reference	Nareyek, A. 2000. Open World Planning as SCSP. In Papers from the AAAI-2000 Workshop on Constraints and AI Planning, Technical Report, WS-00-02, 35-46. AAAI Press, Menlo Park, California.
Abstract	Planning for the real world requires the ability to sense and reason about an arbitrary number of entities and relations that are not known in advance. However, most satisfaction-based planning systems only reason about a fixed number of given unique fluents. This article presents the planning model of the constraint-based EXCALIBUR agent's planning system. The model is based on structural constraint satisfaction, which makes it possible to use arbitrary plan structures and to handle open world planning.
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Online Content	The article includes content from the AI Center pages below. Please note that the online pages may contain updated/revised versions, and probably do not cover the complete article: The Planning Model The Model's Basics Actions, Action Tasks and Action Resources State Resources, State Tasks and Precondition Tasks Objects and References Sensors and Existence The Planning Model as SCSP The Current Time Actions Operations States Objects References Sensors Existence Projections Problem Formulation Conclusion