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arXiv · 2508.15358

Planning with Minimal Disruption

Alberto Pozanco·Marianela Morales·Daniel Borrajo·Manuela Veloso
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Abstract

In many planning applications, we might be interested in finding plans that minimally modify the initial state to achieve the goals. We refer to this concept as plan disruption. In this paper, we formally introduce it, and define various planning-based compilations that aim to jointly optimize both the sum of action costs and plan disruption. Experimental results in different benchmarks show that the reformulated task can be effectively solved in practice to generate plans that balance both objectives.

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Alberto Pozanco, Marianela Morales, Daniel Borrajo, Manuela Veloso. 2025-08-21. Planning with Minimal Disruption. https://arxiv.org/abs/2508.15358

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