Efficient Temporal Piecewise-Linear Numeric Planning with Lazy Consistency Checking

State-of-the-art temporal planners that support continuous numeric effects typically interweave search with scheduling to ensure temporal consistency. If such effects are linear, this process often makes use of Linear Programming (LP) to model the relationship between temporal constraints and conditions on numeric fluents that are subject to duration-dependent effects. While very effective on benchmark domains, this approach does not scale well when solving real-world problems that require long plans. We propose a set of techniques that allow the planner to compute LP consistency checks lazily where possible, significantly reducing the computation time required, thus allowing the planner to solve larger problem instances within an acceptable time-frame. We also propose an algorithm to perform duration-dependent goal checking more selectively. Furthermore, we propose an LP formulation with a smaller footprint that removes linearity restrictions on discrete effects applied within segments of the plan where a numeric fluent is not duration dependent. The effectiveness of these techniques is demonstrated on domains that use a mix of discrete and continuous effects, which is typical of real-world planning problems. The resultant planner is not only more efficient, but outperforms most state-of-the-art temporal-numeric and hybrid planners, in terms of both coverage and scalability.