PDDL+ is an extension of PDDL that makes it possible to model planning domains with mixed discrete-continuous dynamics. In this paper we present a new approach to PDDL+ planning based on the paradigm of Constraint Answer Set Programming (CASP), an extension of Answer Set Programming that supports efficient reasoning on numerical constraints. We provide an encoding of PDDL+ models into CASP problems. The encoding can handle non-linear hybrid domains, and represents a solid basis for applying logic programming to PDDL+ planning. As a case study, we consider an implementation of our approach based on CASP solver EZCSP and present very promising results on a set of PDDL+ benchmark problems.
A CASP-based approach to PDDL+ planning
Maratea M.
2016-01-01
Abstract
PDDL+ is an extension of PDDL that makes it possible to model planning domains with mixed discrete-continuous dynamics. In this paper we present a new approach to PDDL+ planning based on the paradigm of Constraint Answer Set Programming (CASP), an extension of Answer Set Programming that supports efficient reasoning on numerical constraints. We provide an encoding of PDDL+ models into CASP problems. The encoding can handle non-linear hybrid domains, and represents a solid basis for applying logic programming to PDDL+ planning. As a case study, we consider an implementation of our approach based on CASP solver EZCSP and present very promising results on a set of PDDL+ benchmark problems.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
