中文摘要：

有限域表示（FDR）能有效地压缩状态空间，其转换算法在实例化阶段对每个初始状态都生成一个逻辑程序，而一致性规划任务的初始状态数量通常较大，所以这通常需要较大的时间和空间开销，甚至导致内存溢出。为了提高转换算法运行效率使其能处理更为复杂的规划问题，提出了一种基于单逻辑程序的IFDR转换算法。｜FDR算法从初始信念状态中所有可能的初始世界状态得到一个事实集，再由动作和公理计算得到一个规则集。一个事实集和一个规则集组成一个逻辑程序，IFDR用此单逻辑程序完成实例化。实验结果表明IFDR算法在解决问题的效率和数量上都有所提高。

英文摘要：

Abstract： Finite-domain representations （FDR） is one of the best methods to compress the ＇size of state space, but it requires building a logic program for each initial state in grounding Stage. Unfortunately the number of the possible initial state in con- formant planning is always huge. So there will be heavy time and space Overhead and even leads to memory overflowl In order to improve the efficiency of the algorithm, this paper designed a new method named IFDR using a single logic program to trans- late the PPDDL task into grounded one. A logic program consists of a set of facts and a set of rules. The setof facts of the logic program was formed by the atoms in all the possible initial state, and the set of rules was derived from the axiom and operator definitions. The outcomes of Comparative experiments validate the accuracy and effectiveness of the new algorithm. Key words： conformant planning; FDR; datalog exploration; logic program; PPDDL; believe state