Extending landmarks analysis to reason about resources and repetition

The identification of important planning subgoals, referred to as landmarks, has been shown to be useful in speeding up plan generation in a number of different planning architec- tures [8]. Here, we report on work in progress to extend some features of this domain analysis using landmarks. In particular we consider: the extraction of resource abstracted landmarks; and the identification of landmark repetition along with a count of the minimum number of times a landmark will need to be repeated. We illustrate our ideas with an example from a benchmark domain and consider ways in which this information could be exploited at plan time.