Planning using actions with control parameters

Emre Savaş; Maria Fox; Derek Long; Daniele Magazzeni

doi:10.3233/978-1-61499-672-9-1185

Planning using actions with control parameters

Emre Savaş, Maria Fox, Derek Long, Daniele Magazzeni

Department of Informatics

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

12 Citations (Scopus)

505 Downloads (Pure)

Abstract

Although PDDL is an expressive modelling language, a significant limitation is imposed on the structure of actions: the parameters of actions are restricted to values from finite (in fact, explicitly enumerated) domains. There is one exception to this, introduced in PDDL2.1, which is that durative actions may have durations that are chosen (possibly subject to explicit constraints in the action models) by the planner. A motivation for this limitation is that it ensures that the set of grounded actions is finite and, ignoring duration, the branching factor of action choices at a state is therefore finite. Although the duration parameter can make this choice infinite, very few planners support this possibility, but restrict themselves to durative actions with fixed durations. In this paper we motivate a proposed extension to PDDL to allow actions with infinite domain parameters, which we call control parameters. We illustrate reasons for using this modelling feature and then describe a planning approach that can handle domains that exploit it, implemented in a new planner, POPCORN (Partial-Order Planning with Constrained Real Numerics). We show that this approach scales to solve interesting problems.

Original language	English
Title of host publication	Frontiers in Artificial Intelligence and Applications
Publisher	IOS Press
Pages	1185-1193
Number of pages	9
Volume	285
ISBN (Print)	9781614996712
DOIs	https://doi.org/10.3233/978-1-61499-672-9-1185 https://doi.org/10.3233/978-1-61499-672-9-1185
Publication status	Published - 2016
Event	22nd European Conference on Artificial Intelligence, ECAI 2016 - The Hague, Netherlands Duration: 29 Aug 2016 → 2 Sept 2016

Publication series

Name	Frontiers in Artificial Intelligence and Applications
Volume	285
ISSN (Print)	09226389

Conference

Conference	22nd European Conference on Artificial Intelligence, ECAI 2016
Country/Territory	Netherlands
City	The Hague
Period	29/08/2016 → 2/09/2016

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Planning Using Actions with_SAVAS_Accepted8July2016_GOLD VoRFinal published version, 398 KBLicence: CC BY-NC

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Savaş, E , Fox, M , Long, D & Magazzeni, D 2016, Planning using actions with control parameters. in Frontiers in Artificial Intelligence and Applications. vol. 285, Frontiers in Artificial Intelligence and Applications, vol. 285, IOS Press, pp. 1185-1193, 22nd European Conference on Artificial Intelligence, ECAI 2016, The Hague, Netherlands, 29/08/2016. https://doi.org/10.3233/978-1-61499-672-9-1185, https://doi.org/10.3233/978-1-61499-672-9-1185

TY - CHAP

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AU - Savaş, Emre

AU - Fox, Maria

AU - Long, Derek

AU - Magazzeni, Daniele

PY - 2016

Y1 - 2016

N2 - Although PDDL is an expressive modelling language, a significant limitation is imposed on the structure of actions: the parameters of actions are restricted to values from finite (in fact, explicitly enumerated) domains. There is one exception to this, introduced in PDDL2.1, which is that durative actions may have durations that are chosen (possibly subject to explicit constraints in the action models) by the planner. A motivation for this limitation is that it ensures that the set of grounded actions is finite and, ignoring duration, the branching factor of action choices at a state is therefore finite. Although the duration parameter can make this choice infinite, very few planners support this possibility, but restrict themselves to durative actions with fixed durations. In this paper we motivate a proposed extension to PDDL to allow actions with infinite domain parameters, which we call control parameters. We illustrate reasons for using this modelling feature and then describe a planning approach that can handle domains that exploit it, implemented in a new planner, POPCORN (Partial-Order Planning with Constrained Real Numerics). We show that this approach scales to solve interesting problems.

AB - Although PDDL is an expressive modelling language, a significant limitation is imposed on the structure of actions: the parameters of actions are restricted to values from finite (in fact, explicitly enumerated) domains. There is one exception to this, introduced in PDDL2.1, which is that durative actions may have durations that are chosen (possibly subject to explicit constraints in the action models) by the planner. A motivation for this limitation is that it ensures that the set of grounded actions is finite and, ignoring duration, the branching factor of action choices at a state is therefore finite. Although the duration parameter can make this choice infinite, very few planners support this possibility, but restrict themselves to durative actions with fixed durations. In this paper we motivate a proposed extension to PDDL to allow actions with infinite domain parameters, which we call control parameters. We illustrate reasons for using this modelling feature and then describe a planning approach that can handle domains that exploit it, implemented in a new planner, POPCORN (Partial-Order Planning with Constrained Real Numerics). We show that this approach scales to solve interesting problems.

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Y2 - 29 August 2016 through 2 September 2016

ER -

Planning using actions with control parameters

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