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This paper explores how current planners behave when exposed to multiple metrics, examining which of the planners are metric sensitive and which are not. For the metric insensitive planners we propose a new method of simulating metric sensitivity for the purpose of generation of diverse plans close to a pareto frontier. It is shown that metric sensitive planners are good candidates for generating sets of pareto optimal plans.

Exploring Metric Sensitivity of Planners for Generation of Pareto Frontiers