Abstract
Planning in hybrid systems is important for dealing with realworld
applications. PDDL+ supports this representation of
domains with mixed discrete and continuous dynamics, and
supports events and processes modeling exogenous change.
Motivated by numerous SAT-based planning approaches, we
propose an approach to PDDL+ planning through SMT, describing
an SMT encoding that captures all the features of the
PDDL+ problem as published by Fox and Long (2006). The
encoding can be applied on domains with nonlinear continuous
change. We apply this encoding in a simple planning
algorithm, demonstrating excellent results on a set of benchmark
problems.
applications. PDDL+ supports this representation of
domains with mixed discrete and continuous dynamics, and
supports events and processes modeling exogenous change.
Motivated by numerous SAT-based planning approaches, we
propose an approach to PDDL+ planning through SMT, describing
an SMT encoding that captures all the features of the
PDDL+ problem as published by Fox and Long (2006). The
encoding can be applied on domains with nonlinear continuous
change. We apply this encoding in a simple planning
algorithm, demonstrating excellent results on a set of benchmark
problems.
| Original language | English |
|---|---|
| Title of host publication | Twenty-Sixth International Conference on Automated Planning and Scheduling |
| Pages | 79-87 |
| Publication status | Published - 12 Jun 2016 |