956 research outputs found
CASP Solutions for Planning in Hybrid Domains
CASP is an extension of ASP that allows for numerical constraints to be added
in the rules. PDDL+ is an extension of the PDDL standard language of automated
planning for modeling mixed discrete-continuous dynamics.
In this paper, we present CASP solutions for dealing with PDDL+ problems,
i.e., encoding from PDDL+ to CASP, and extensions to the algorithm of the EZCSP
CASP solver in order to solve CASP programs arising from PDDL+ domains. An
experimental analysis, performed on well-known linear and non-linear variants
of PDDL+ domains, involving various configurations of the EZCSP solver, other
CASP solvers, and PDDL+ planners, shows the viability of our solution.Comment: Under consideration in Theory and Practice of Logic Programming
(TPLP
Numerical Integration and Dynamic Discretization in Heuristic Search Planning over Hybrid Domains
In this paper we look into the problem of planning over hybrid domains, where
change can be both discrete and instantaneous, or continuous over time. In
addition, it is required that each state on the trajectory induced by the
execution of plans complies with a given set of global constraints. We approach
the computation of plans for such domains as the problem of searching over a
deterministic state model. In this model, some of the successor states are
obtained by solving numerically the so-called initial value problem over a set
of ordinary differential equations (ODE) given by the current plan prefix.
These equations hold over time intervals whose duration is determined
dynamically, according to whether zero crossing events take place for a set of
invariant conditions. The resulting planner, FS+, incorporates these features
together with effective heuristic guidance. FS+ does not impose any of the
syntactic restrictions on process effects often found on the existing
literature on Hybrid Planning. A key concept of our approach is that a clear
separation is struck between planning and simulation time steps. The former is
the time allowed to observe the evolution of a given dynamical system before
committing to a future course of action, whilst the later is part of the model
of the environment. FS+ is shown to be a robust planner over a diverse set of
hybrid domains, taken from the existing literature on hybrid planning and
systems.Comment: 17 page
Action planning for graph transition systems
Graphs are suitable modeling formalisms for software and hardware systems involving aspects such as communication,
object orientation, concurrency, mobility and distribution. State spaces of such systems can be represented by graph transition systems, which are basically transition systems whose states and transitions represent graphs and graph morphisms. In this paper, we propose the modeling of graph transition systems in PDDL and the application of heuristic search planning for their analysis. We consider different heuristics and present experimental results
Planning as Tabled Logic Programming
This paper describes Picat's planner, its implementation, and planning models
for several domains used in International Planning Competition (IPC) 2014.
Picat's planner is implemented by use of tabling. During search, every state
encountered is tabled, and tabled states are used to effectively perform
resource-bounded search. In Picat, structured data can be used to avoid
enumerating all possible permutations of objects, and term sharing is used to
avoid duplication of common state data. This paper presents several modeling
techniques through the example models, ranging from designing state
representations to facilitate data sharing and symmetry breaking, encoding
actions with operations for efficient precondition checking and state updating,
to incorporating domain knowledge and heuristics. Broadly, this paper
demonstrates the effectiveness of tabled logic programming for planning, and
argues the importance of modeling despite recent significant progress in
domain-independent PDDL planners.Comment: 27 pages in TPLP 201
The 2014 International Planning Competition: Progress and Trends
We review the 2014 International Planning Competition (IPC-2014), the eighth
in a series of competitions starting in 1998. IPC-2014 was held in three separate
parts to assess state-of-the-art in three prominent areas of planning research: the
deterministic (classical) part (IPCD), the learning part (IPCL), and the probabilistic
part (IPPC). Each part evaluated planning systems in ways that pushed the edge of
existing planner performance by introducing new challenges, novel tasks, or both.
The competition surpassed again the number of competitors than its predecessor,
highlighting the competitionās central role in shaping the landscape of ongoing
developments in evaluating planning systems
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