Mixed Discrete Continuous Non-Linear Planning through Piecewise Linear Approximation

TY - CHAP

T1 - Mixed Discrete Continuous Non-Linear Planning through Piecewise Linear Approximation

AU - Denenberg, Elad

AU - Coles, Amanda Jane

N1 - Conference code: 29

PY - 2019/7/6

Y1 - 2019/7/6

N2 - Reasoning with continuously changing numeric quantities is vital to applying planners in many real-world scenarios. Several planners capable of doing this have been developed recently. Scalability remains a challenge for such planners, especially those that reason with non-linear continuous change. In this paper, we present a novel approach to reasoning with non-linear domains. Bounding the problem using linear over and under-estimators, allows us to use scalable planners that handle linear change to find plans for non-linear domains. We compare the performance of our approach to existing planners on several domains and demonstrate that our planner can achieve state-of-the-art performance in non-linear planning.

AB - Reasoning with continuously changing numeric quantities is vital to applying planners in many real-world scenarios. Several planners capable of doing this have been developed recently. Scalability remains a challenge for such planners, especially those that reason with non-linear continuous change. In this paper, we present a novel approach to reasoning with non-linear domains. Bounding the problem using linear over and under-estimators, allows us to use scalable planners that handle linear change to find plans for non-linear domains. We compare the performance of our approach to existing planners on several domains and demonstrate that our planner can achieve state-of-the-art performance in non-linear planning.

M3 - Conference paper

VL - 29

SP - 137

EP - 145

BT - Proceedings of he Twenty-Ninth International Conference on Automated Planning and Scheduling

T2 - International Conference on Automated Planning and Scheduling

Y2 - 13 July 2019 through 15 July 2019

ER -