Probabilistically Reusing Plans in Deterministic Planning

Inspired by probabilistic path planning, we contribute a planning approach that probabilistically balances heuristics and past plans as guidance to planning search. Our ERRT-PLAN algorithm generates multiple search branches probabilistically choosing to extend them towards the current goal or towards actions or goals of a past given plan. We have defined domains to show where current techniques could be trapped. Also, we show experimental results with a variety of domains, where we show the strengths of ERRT-PLAN.