Versatility of ICARUS
ICARUS retains statistics about probability of successful plan reuse, which
lets it mimic planning with derivational analogy, search control rules, and
macro-operators. Also, planning and execution can be interleaved to varying
degrees and processing can shift with problems from closed-loop to open-loop
processing. Furthermore, the notion of goal priorities combined with
interruption
allows single-minded and distractable planning.
Forward chaining
and means-ends analysis are also done during planning. (See also Style of Control.)
However, ICARUS only supports generation of totally ordered plans, and cannot
produce abstract or conditional plans, and even lacks the representation for
avoidance goals. Also, the memory hierarchy relies on 'is-a' links, and
classification can be done in only one direction.
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