We describe a new problem solver called STRIPS that attempts to find a sequence of operators in a space of world models to transform a given initial world model into a model in which a given goal formula can be proved to be true. STRIPS represents a world model as an arbitrary collection of first-order predicate calculus formulas and is designed to work with mode consisting of large numbers of formulas. It employs a resolution theorem-prover to answer questions of particular models and uses means-ends analysis to guide it to the desired goal-satisfying model.
