Temporal Numeric Planning with Patterns

We consider temporal numeric planning problems $\Pi$ expressed in PDDL2.1 level 3, and show how to produce SMT formulas $(i)$ whose models correspond to valid plans of $\Pi$, and $(ii)$ that extend the recently proposed planning with patterns approach from the numeric to the temporal case. We prove the correctness and completeness of the approach and show that it performs very well on 10 domains with required concurrency.

Symbolic Numeric Planning with Patterns

In this paper, we propose a novel approach for solving linear numeric planning problems, called Symbolic Pattern Planning. Given a planning problem $\Pi$, a bound $n$ and a pattern -- defined as an arbitrary sequence of actions -- we encode the problem of finding a plan for $\Pi$ with bound $n$ as a formula with fewer variables and/or clauses than the state-of-the-art rolled-up and relaxed-relaxed-$\exists$ encodings. More importantly, we prove that for any given bound, it is never the case that the latter two encodings allow finding a valid plan while ours does not. On the experimental side, we consider 6 other planning systems -- including the ones which participated in this year's International Planning Competition (IPC) -- and we show that our planner Patty has remarkably good comparative performances on this year's IPC problems.

Causal Laws and Multi-Valued Fluents

This paper continues the line of work on representing properties of actions in nonmonotonic formalisms that stresses the distinction between being "true" and being "caused", as in the system of causal logic introduced by McCain and Turner and in the action language C proposed by Giunchiglia and Lifschitz. The only fluents directly representable in language C+ are truth-valued fluents, which is often inconvenient. We show that both causal logic and language C can be extended to allow values from arbitrary nonempty sets. Our extension of language C, called C+, also makes it possible to describe actions in terms of their attributes, which is important from the perspective of elaboration tolerance. We describe an embedding of C+ in causal theories with multi-valued constants, relate C+ to Pednault's action language ADL, and show how multi-valued constants can be eliminated in favor of Boolean constants.