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Compiling Temporal Numeric Planning into Discrete PDDL+: Extended Version

Andrea Micheli, Enrico Scala, Alessandro Valentini

TL;DR

This work presents a practical compilation from temporal planning with durative actions into PDDL+, fully capturing the semantics and only assuming the non-self-overlapping of actions.

Abstract

Since the introduction of the PDDL+ modeling language, it was known that temporal planning with durative actions (as in PDDL 2.1) could be compiled into PDDL+. However, no practical compilation was presented in the literature ever since. We present a practical compilation from temporal planning with durative actions into PDDL+, fully capturing the semantics and only assuming the non-self-overlapping of actions. Our compilation is polynomial, retains the plan length up to a constant factor and is experimentally shown to be of practical relevance for hard temporal numeric problems.

Compiling Temporal Numeric Planning into Discrete PDDL+: Extended Version

TL;DR

This work presents a practical compilation from temporal planning with durative actions into PDDL+, fully capturing the semantics and only assuming the non-self-overlapping of actions.

Abstract

Since the introduction of the PDDL+ modeling language, it was known that temporal planning with durative actions (as in PDDL 2.1) could be compiled into PDDL+. However, no practical compilation was presented in the literature ever since. We present a practical compilation from temporal planning with durative actions into PDDL+, fully capturing the semantics and only assuming the non-self-overlapping of actions. Our compilation is polynomial, retains the plan length up to a constant factor and is experimentally shown to be of practical relevance for hard temporal numeric problems.
Paper Structure (7 sections, 2 theorems, 18 equations, 1 figure, 1 table)

This paper contains 7 sections, 2 theorems, 18 equations, 1 figure, 1 table.

Table of Contents

  1. Introduction
  2. Background
  3. Compile Temporal Planning into PDDL+
  4. Additional intuition on the lock mechanism.
  5. Theoretical Properties
  6. Experimental Evaluation
  7. Conclusion

Key Result

Theorem 1

Let $(\bar{\pi^+}, t_e)$ be a valid plan for $\bar{\Pi}$, then $\tilde{\pi}$ is a valid plan for $\Pi$.

Figures (1)

  • Figure 1: Cactus (survival) plot (left) and run-time scatter plot for the planners with highest coverage (right).

Theorems & Definitions (9)

  • Definition 1
  • Definition 2
  • Definition 3
  • Definition 4
  • Definition 5
  • Theorem 1: Soundness
  • proof
  • Theorem 2: Completeness
  • proof