Discussion
What is a relaxed planning problem?
Answer: A
Dropping the negative effects means nothing ever becomes false, so the relaxed problem is solvable in polynomial time and its solution length is an admissible estimate. That single idea produced the heuristics that revived forward search. Fewer objects, weaker goals and approximation are different simplifications. Deriving a heuristic from a relaxation whose optimal solution is cheap to compute is the same recipe used throughout heuristic search.
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