Generalized planning is the task of generating a single solution that is
valid for a set of planning problems. In this paper we show how to represent
and compute generalized plans using procedural Domain Control Knowledge (DCK).
We define a {\it divide and conquer} approach that first generates the
procedural DCK solving a set of planning problems representative of certain
subtasks and then compile it as callable procedures of the overall generalized
planning problem. Our procedure calling mechanism allows nested and recursive
procedure calls and is implemented in PDDL so that classical planners can
compute and exploit procedural DCK. Experiments show that an off-the-shelf
classical planner, using procedural DCK as callable procedures, can compute
generalized plans in a wide range of domains including non-trivial ones, such
as sorting variable-size lists or DFS traversal of binary trees with variable
size.

本研究论文介绍了如何使用过程式 Domain Control Knowledge (DCK) 来表示和计算广义规划，使用了 “分而治之” 的方法来首先生成解决某些子任务的过程式 DCK，然后将它编译为整个广义规划问题的可调用程序。我们的测试表明，通过使用可调用的过程式 DCK，一个现成的经典规划器可以在广泛的领域内计算出广义计划。