144 research outputs found
PDDL2.1: An extension of PDDL for expressing temporal planning domains
In recent years research in the planning community has moved increasingly towards application of planners to realistic problems involving both time and many types of resources. For example, interest in planning demonstrated by the space research community has inspired work in observation scheduling, planetary rover ex ploration and spacecraft control domains. Other temporal and resource-intensive domains including logistics planning, plant control and manufacturing have also helped to focus the community on the modelling and reasoning issues that must be confronted to make planning technology meet the challenges of application. The International Planning Competitions have acted as an important motivating force behind the progress that has been made in planning since 1998. The third competition (held in 2002) set the planning community the challenge of handling time and numeric resources. This necessitated the development of a modelling language capable of expressing temporal and numeric properties of planning domains. In this paper we describe the language, PDDL2.1, that was used in the competition. We describe the syntax of the language, its formal semantics and the validation of concurrent plans. We observe that PDDL2.1 has considerable modelling power --- exceeding the capabilities of current planning technology --- and presents a number of important challenges to the research community
Processes and continuous change in a SAT-based planner
AbstractThe TM-LPSAT planner can construct plans in domains containing atomic actions and durative actions; events and processes; discrete, real-valued, and interval-valued fluents; reusable resources, both numeric and interval-valued; and continuous linear change to quantities. It works in three stages. In the first stage, a representation of the domain and problem in an extended version of PDDL+ is compiled into a system of Boolean combinations of propositional atoms and linear constraints over numeric variables. In the second stage, a SAT-based arithmetic constraint solver, such as LPSAT or MathSAT, is used to find a solution to the system of constraints. In the third stage, a correct plan is extracted from this solution. We discuss the structure of the planner and show how planning with time and metric quantities is compiled into a system of constraints. The proofs of soundness and completeness over a substantial subset of our extended version of PDDL+ are presented
Using the event calculus for tracking the normative state of contracts
In this work, we have been principally concerned with the representation of contracts so that their normative state may be tracked in an automated fashion over their deployment lifetime. The normative state of a contract, at a particular time, is the aggregation of instances of normative relations that hold between contract parties at that time, plus the current values of contract variables. The effects of contract events on the normative state of a contract are specified using an XML formalisation of the Event Calculus, called ecXML. We use an example mail service agreement from the domain of web services to ground the discussion of our work. We give a characterisation of the agreement according to the normative concepts of: obligation, power and permission, and show how the ecXML representation may be used to track the state of the agreement, according to a narrative of contract events. We also give a description of a state tracking architecture, and a contract deployment tool, both of which have been implemented in the course of our work.
PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains
In recent years research in the planning community has moved increasingly
toward s application of planners to realistic problems involving both time and
many typ es of resources. For example, interest in planning demonstrated by the
space res earch community has inspired work in observation scheduling,
planetary rover ex ploration and spacecraft control domains. Other temporal and
resource-intensive domains including logistics planning, plant control and
manufacturing have also helped to focus the community on the modelling and
reasoning issues that must be confronted to make planning technology meet the
challenges of application. The International Planning Competitions have acted
as an important motivating fo rce behind the progress that has been made in
planning since 1998. The third com petition (held in 2002) set the planning
community the challenge of handling tim e and numeric resources. This
necessitated the development of a modelling langua ge capable of expressing
temporal and numeric properties of planning domains. In this paper we describe
the language, PDDL2.1, that was used in the competition. We describe the syntax
of the language, its formal semantics and the validation of concurrent plans.
We observe that PDDL2.1 has considerable modelling power --- exceeding the
capabilities of current planning technology --- and presents a number of
important challenges to the research community
PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains
In recent years research in the planning community has moved increasingly
toward s application of planners to realistic problems involving both time and
many typ es of resources. For example, interest in planning demonstrated by the
space res earch community has inspired work in observation scheduling,
planetary rover ex ploration and spacecraft control domains. Other temporal and
resource-intensive domains including logistics planning, plant control and
manufacturing have also helped to focus the community on the modelling and
reasoning issues that must be confronted to make planning technology meet the
challenges of application. The International Planning Competitions have acted
as an important motivating fo rce behind the progress that has been made in
planning since 1998. The third com petition (held in 2002) set the planning
community the challenge of handling tim e and numeric resources. This
necessitated the development of a modelling langua ge capable of expressing
temporal and numeric properties of planning domains. In this paper we describe
the language, PDDL2.1, that was used in the competition. We describe the syntax
of the language, its formal semantics and the validation of concurrent plans.
We observe that PDDL2.1 has considerable modelling power --- exceeding the
capabilities of current planning technology --- and presents a number of
important challenges to the research community
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
Modelling Mixed Discrete-Continuous Domains for Planning
In this paper we present pddl+, a planning domain description language for
modelling mixed discrete-continuous planning domains. We describe the syntax
and modelling style of pddl+, showing that the language makes convenient the
modelling of complex time-dependent effects. We provide a formal semantics for
pddl+ by mapping planning instances into constructs of hybrid automata. Using
the syntax of HAs as our semantic model we construct a semantic mapping to
labelled transition systems to complete the formal interpretation of pddl+
planning instances. An advantage of building a mapping from pddl+ to HA theory
is that it forms a bridge between the Planning and Real Time Systems research
communities. One consequence is that we can expect to make use of some of the
theoretical properties of HAs. For example, for a restricted class of HAs the
Reachability problem (which is equivalent to Plan Existence) is decidable.
pddl+ provides an alternative to the continuous durative action model of
pddl2.1, adding a more flexible and robust model of time-dependent behaviour
TALplanner in IPC-2002: Extensions and Control Rules
TALplanner is a forward-chaining planner that relies on domain knowledge in
the shape of temporal logic formulas in order to prune irrelevant parts of the
search space. TALplanner recently participated in the third International
Planning Competition, which had a clear emphasis on increasing the complexity
of the problem domains being used as benchmark tests and the expressivity
required to represent these domains in a planning system. Like many other
planners, TALplanner had support for some but not all aspects of this increase
in expressivity, and a number of changes to the planner were required. After a
short introduction to TALplanner, this article describes some of the changes
that were made before and during the competition. We also describe the process
of introducing suitable domain knowledge for several of the competition
domains
Towards The Integration of Model Predictive Control into an AI Planning Framework
This paper describes a framework for a hybrid algorithm that combines both AI Planning and Model Predictive Control approaches to reason with processes and events within a domain. This effectively utilises the strengths of search-based and model-simulation-based methods. We explore this control approach and show how it can be embedded into existing, modern AI Planning technology. This preserves the many advantages of the AI Planning approach, to do with domain independence through declarative modelling, and explicit reasoning, while leveraging the capability of MPC to deal with continuous processes computation within such domains. The developed technique is tested on an urban traffic control application and the results demonstrate the
potential in utilising MPC as a heuristic to guide planning search
ICAPS 2012. Proceedings of the third Workshop on the International Planning Competition
22nd International Conference on Automated Planning and Scheduling. June 25-29, 2012, Atibaia, Sao Paulo (Brazil).
Proceedings of the 3rd the International Planning
CompetitionThe Academic Advising Planning Domain / Joshua T. Guerin, Josiah P. Hanna, Libby Ferland, Nicholas Mattei, and Judy Goldsmith. -- Leveraging Classical Planners through Translations / Ronen I. Brafman, Guy Shani, and Ran Taig. -- Advances in BDD Search: Filtering, Partitioning, and Bidirectionally Blind / Stefan Edelkamp, Peter Kissmann, and Álvaro Torralba. -- A Multi-Agent Extension of PDDL3.1 / Daniel L. Kovacs. -- Mining IPC-2011 Results / Isabel Cenamor, Tomás de la Rosa, and Fernando Fernández. -- How Good is the Performance of the Best Portfolio in IPC-2011? /
Sergio Nuñez, Daniel Borrajo, and Carlos Linares López. -- “Type Problem in Domain Description!” or, Outsiders’ Suggestions for PDDL Improvement / Robert P. Goldman and Peter KellerEn prens
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