Fast planning in domains with derived predicates: an approach based on rule-action graphs and local search

Authors:
Alfonso Gerevini;Alessandro Saetti;Ivan Serina;Paolo Toninelli
Affiliations:
Dip. di Elettronica per l' Automazione, Università degli Studi di Brescia, Brescia, Italy;Dip. di Elettronica per l' Automazione, Università degli Studi di Brescia, Brescia, Italy;Dept. of Computer and Information Systems, University of Strathclyde, Glasgow, UK;Dip. di Elettronica per l' Automazione, Università degli Studi di Brescia, Brescia, Italy
Venue:
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Year:
2005

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Abstract

The ability to express "derived predicates" in the formalization of a planning domain is both practically and theoretically important. In this paper, we propose an approach to planning with derived predicates where the search space consists of "Rule-Action Graphs", particular graphs of actions and rules representing derived predicates. We present some techniques for representing rules and reasoning with them, which are integrated into a method for planning through local search and rule-action graphs. We also propose some new heuristics for guiding the search, and some experimental results illustrating the performance of our approach. Our proposed techniques are implemented in a planner that took part in the fourth International Planning Competition showing good performance in many benchmark problems.