ADL: exploring the middle ground between STRIPS and the situation calculus
Proceedings of the first international conference on Principles of knowledge representation and reasoning
Reasoning about infinite computations
Information and Computation
Fast planning through planning graph analysis
Artificial Intelligence
Planning for temporally extended goals
Annals of Mathematics and Artificial Intelligence
TALplanner: A temporal logic based forward chaining planner
Annals of Mathematics and Artificial Intelligence
Simple on-the-fly automatic verification of linear temporal logic
Proceedings of the Fifteenth IFIP WG6.1 International Symposium on Protocol Specification, Testing and Verification XV
Planning with a language for extended goals
Eighteenth national conference on Artificial intelligence
Artificial Intelligence
The temporal logic of programs
SFCS '77 Proceedings of the 18th Annual Symposium on Foundations of Computer Science
The FF planning system: fast plan generation through heuristic search
Journal of Artificial Intelligence Research
CIAA'03 Proceedings of the 8th international conference on Implementation and application of automata
A heuristic search approach to planning with temporally extended preferences
Artificial Intelligence
Automatic construction of simple artifact-based business processes
Proceedings of the 12th International Conference on Database Theory
Beyond classical planning: procedural control knowledge and preferences in state-of-the-art planners
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
A heuristic search approach to planning with temporally extended preferences
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Planning for temporally extended goals as propositional satisfiability
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
MATES'09 Proceedings of the 7th German conference on Multiagent system technologies
LTL Goal Specifications Revisited
Proceedings of the 2010 conference on ECAI 2010: 19th European Conference on Artificial Intelligence
Specifying and computing preferred plans
Artificial Intelligence
Computing infinite plans for LTL goals using a classical planner
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
Runtime verification of service-oriented systems: a well-rounded survey
International Journal of Web and Grid Services
Optimal delete-relaxed (and semi-relaxed) planning with conditional effects
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
Fair LTL synthesis for non-deterministic systems using strong cyclic planners
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
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Temporally extended goals (TEGs) refer to properties that must hold over intermediate and/or final states of a plan. The problem of planning with TEGs is of renewed interest because it is at the core of planning with temporal preferences. Currently, the fastest domain-independent classical planners employ some kind of heuristic search. However, existing planners for TEGs are not heuristic and are only able to prune the search space by progressing the TEG. In this paper we propose a method for planning with TEGs using heuristic search. We represent TEGs using a rich and compelling subset of a first-order linear temporal logic. We translate a planning problem with TEGs to a classical planning problem. With this translation in hand, we exploit heuristic search to determine a plan. Our translation relies on the construction of a parameterized nondeterministic finite automaton for the TEG. We have proven the correctness of our algorithm and analyzed the complexity of the resulting representation. The translator is fully implemented and available. Our approach consistently outperforms TLPLAN on standard benchmark domains, often by orders of magnitude.