##

12.1.2 Algorithms for Nondeterministic I-Spaces

Now that the problem of planning in
has been expressed
using Formulation 10.1, the methods of Section
10.2 directly apply. The main limitation of their
use is that the new state space is exponentially larger than
. If contains states, then contains
states. Thus, even though some methods in Section
10.2 can solve problems in practice that involve a
million states, this would only be about states in the original
state space. Handling substantially larger problems requires
developing application-specific methods that exploit some special
structure of the I-space, possibly by defining an I-map that leads to
a smaller derived I-space.

**Subsections**

Steven M LaValle
2012-04-20