Discussion
What is the trade in using a hierarchical planner?
Answer: B
Writing the methods encodes how a human would tackle the domain, which is a considerable authoring effort and is why such planners solve problems that defeat classical ones. It is the same knowledge acquisition cost that expert systems faced. Plan length, completeness and verification are secondary. Trading authoring effort for solving power is a legitimate choice when the domain is stable enough to justify writing the knowledge down. Most errors here come from carrying a result across from a neighbouring case where it does not hold.
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