Scope and abstraction: Two criteria for localized planning

Localization is a general-purpose representational technique for partitioning a problem intosubproblems. A localized problem-solver searches several smaller search spaces, one for each
subproblem. Unlike most methods of partitioning, however, localization allows for subprob-
lems that overlap i.e. multiple search spaces may be involved in constructing shared pieces
of the overall plan. In this paper we focus on two criteria for forming localizations: scope
and abstraction. We describe a method for automatically generating such localizations and
provide empirical results that contrast their use in an o ce-building construction domain.