Planning as search: a quantitative approach
Artificial Intelligence
A theoretical analysis of conjunctive-goal problems
Artificial Intelligence
Reasoning about plans
Artificial Intelligence
The computational complexity of propositional STRIPS planning
Artificial Intelligence
Automatically generating abstractions for planning
Artificial Intelligence
Downward refinement and the efficiency of hierarchical problem solving
Artificial Intelligence
GPS, a program that simulates human thought
Computers & thought
Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
New directions in AI planning
State-variable planning under structural restrictions: algorithms and complexity
Artificial Intelligence
Artificial Intelligence - Special issue on heuristic search in artificial intelligence
Computers and Intractability: A Guide to the Theory of NP-Completeness
Computers and Intractability: A Guide to the Theory of NP-Completeness
Tractable plan existence does not imply tractable plan generation
Annals of Mathematics and Artificial Intelligence
A* with Partial Expansion for Large Branching Factor Problems
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Exhibiting Knowledge in Planning Problems to Minimize State Encoding Length
ECP '99 Proceedings of the 5th European Conference on Planning: Recent Advances in AI Planning
The harpy speech recognition system.
The harpy speech recognition system.
A reactive planner for a model-based executive
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
The FF planning system: fast plan generation through heuristic search
Journal of Artificial Intelligence Research
Structure and complexity in planning with unary operators
Journal of Artificial Intelligence Research
PDDL2.1: an extension to PDDL for expressing temporal planning domains
Journal of Artificial Intelligence Research
Planning through stochastic local search and temporal action graphs in LPG
Journal of Artificial Intelligence Research
The deterministic part of IPC-4: an overview
Journal of Artificial Intelligence Research
Where "Ignoring delete lists" works: local search topology in planning benchmarks
Journal of Artificial Intelligence Research
Local search topology in planning benchmarks: an empirical analysis
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Continual collaborative planning for mixed-initiative action and interaction
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3
Efficient Pruning of Operators in Planning Domains
Current Topics in Artificial Intelligence
Transition-Based Directed Model Checking
TACAS '09 Proceedings of the 15th International Conference on Tools and Algorithms for the Construction and Analysis of Systems: Held as Part of the Joint European Conferences on Theory and Practice of Software, ETAPS 2009,
Combining Domain-Independent Planning and HTN Planning: The Duet Planner
Proceedings of the 2008 conference on ECAI 2008: 18th European Conference on Artificial Intelligence
WoLLIC '09 Proceedings of the 16th International Workshop on Logic, Language, Information and Computation
The Causal Graph Revisited for Directed Model Checking
SAS '09 Proceedings of the 16th International Symposium on Static Analysis
Revisiting Constraint Models for Planning Problems
ISMIS '09 Proceedings of the 18th International Symposium on Foundations of Intelligent Systems
Fast planning by search in domain transition graph
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 2
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 2
Conformant planning heuristics based on plan reuse in belief states
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Engineering benchmarks for planning: the domains used in the deterministic part of IPC-4
Journal of Artificial Intelligence Research
Marvin: a heuristic search planner with online macro-action learning
Journal of Artificial Intelligence Research
Loosely coupled formulations for automated planning: an integer programming perspective
Journal of Artificial Intelligence Research
The complexity of planning problems with simple causal graphs
Journal of Artificial Intelligence Research
New Islands of tractability of cost-optimal planning
Journal of Artificial Intelligence Research
Planning over chain causal graphs for variables with domains of size 5 Is NP-hard
Journal of Artificial Intelligence Research
Long-distance mutual exclusion for propositional planning
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
The role of macros in tractable planning over causal graphs
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Journal of Artificial Intelligence Research
Continual planning and acting in dynamic multiagent environments
Autonomous Agents and Multi-Agent Systems
Translating HTNs to PDDL: a small amount of domain knowledge can go a long way
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Completeness and optimality preserving reduction for planning
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Cost-optimal planning with landmarks
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Trees of shortest paths vs. Steiner trees: understanding and improving delete relaxation heuristics
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Monte-Carlo exploration for deterministic planning
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Inference and Learning in Planning (Extended Abstract)
DS '09 Proceedings of the 12th International Conference on Discovery Science
Conformant plans and beyond: Principles and complexity
Artificial Intelligence
Set-structured and cost-sharing heuristics for classical planning
Annals of Mathematics and Artificial Intelligence
The role of macros in tractable planning
Journal of Artificial Intelligence Research
An LP-based heuristic for optimal planning
CP'07 Proceedings of the 13th international conference on Principles and practice of constraint programming
Understanding planning tasks: domain complexity and heuristic decomposition
Understanding planning tasks: domain complexity and heuristic decomposition
Solving Sequential Planning Problems via Constraint Satisfaction
Fundamenta Informaticae - Methodologies for Intelligent Systems
Causal graphs and structurally restricted planning
Journal of Computer and System Sciences
Optimal admissible composition of abstraction heuristics
Artificial Intelligence
New methods for proving the impossibility to solve problems through reduction of problem spaces
Annals of Mathematics and Artificial Intelligence
The Knowledge Engineering Review
Constraint Based Planning with Composable Substate Graphs
Proceedings of the 2010 conference on ECAI 2010: 19th European Conference on Artificial Intelligence
Completeness-Preserving Pruning for Optimal Planning
Proceedings of the 2010 conference on ECAI 2010: 19th European Conference on Artificial Intelligence
Task planning for an autonomous service robot
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
Efficient Plan Adaptation through Replanning Windows and Heuristic Goals
Fundamenta Informaticae - RCRA 2008 Experimental Evaluation of Algorithms for Solving Problems with Combinatorial Explosion
Context-enhanced directed model checking
SPIN'10 Proceedings of the 17th international SPIN conference on Model checking software
Domain Independent Goal Recognition
Proceedings of the 2010 conference on STAIRS 2010: Proceedings of the Fifth Starting AI Researchers' Symposium
Implicit abstraction heuristics
Journal of Artificial Intelligence Research
The LAMA planner: guiding cost-based anytime planning with landmarks
Journal of Artificial Intelligence Research
Planning with incomplete information
MoChArt'10 Proceedings of the 6th international conference on Model checking and artificial intelligence
Exploiting macro-actions and predicting plan length in planning as satisfiability
AI*IA'11 Proceedings of the 12th international conference on Artificial intelligence around man and beyond
Analyzing search topology without running any search: on the connection between causal graphs and h+
Journal of Artificial Intelligence Research
The influence of k-dependence on the complexity of planning
Artificial Intelligence
Experimental evaluation of pheromone models in ACOPlan
Annals of Mathematics and Artificial Intelligence
Planning in domains with derived predicates through rule-action graphs and local search
Annals of Mathematics and Artificial Intelligence
On the benefit of sub-optimality within the divide-and-evolve scheme
EvoCOP'10 Proceedings of the 10th European conference on Evolutionary Computation in Combinatorial Optimization
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
Exploiting probabilistic knowledge under uncertain sensing for efficient robot behaviour
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
Advanced user assistance based on AI planning
Cognitive Systems Research
Learning heuristic functions for large state spaces
Artificial Intelligence
Landmark-enhanced abstraction heuristics
Artificial Intelligence
Preference-Based planning via MaxSAT
Canadian AI'12 Proceedings of the 25th Canadian conference on Advances in Artificial Intelligence
SAS+ planning as satisfiability
Journal of Artificial Intelligence Research
COLIN: planning with continuous linear numeric change
Journal of Artificial Intelligence Research
SAP speaks PDDL: exploiting a software-engineering model for planning in business process management
Journal of Artificial Intelligence Research
Online speedup learning for optimal planning
Journal of Artificial Intelligence Research
Concise representations for state spaces in conformant planning tasks
ICICA'12 Proceedings of the Third international conference on Information Computing and Applications
Mcta: heuristics and search for timed systems
FORMATS'12 Proceedings of the 10th international conference on Formal Modeling and Analysis of Timed Systems
Goal distance estimation for automated planning using neural networks and support vector machines
Natural Computing: an international journal
On the complexity of planning for agent teams and its implications for single agent planning
Artificial Intelligence
Multi-agent planning by plan reuse
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
A case-based approach to heuristic planning
Applied Intelligence
Towards rational deployment of multiple heuristics in A*
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
Revisiting regression in planning
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
Bridging the gap between refinement and heuristics in abstraction
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
Towards a second generation random walk planner: an experimental exploration
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
Getting the most out of pattern databases for classical planning
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
Symbolic merge-and-shrink for cost-optimal planning
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
Landmark-based heuristics and search control for automated planning (extended abstract)
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
A refined view of causal graphs and component sizes: SP-closed graph classes and beyond
Journal of Artificial Intelligence Research
Manipulation planning using learned symbolic state abstractions
Robotics and Autonomous Systems
The complexity of optimal monotonic planning: the bad, the good, and the causal graph
Journal of Artificial Intelligence Research
Automating the evaluation of planning systems
AI Communications
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Fast Downward is a classical planning system based on heuristic search. It can deal with general deterministic planning problems encoded in the propositional fragment of PDDL2.2, including advanced features like ADL conditions and effects and derived predicates (axioms). Like other well-known planners such as HSP and FF, Fast Downward is a progression planner, searching the space of world states of a planning task in the forward direction. However, unlike other PDDL planning systems, Fast Downward does not use the propositional PDDL representation of a planning task directly. Instead, the input is first translated into an alternative representation called multivalued planning tasks, which makes many of the implicit constraints of a propositional planning task explicit. Exploiting this alternative representation, Fast Downward uses hierarchical decompositions of planning tasks for computing its heuristic function, called the causal graph heuristic, which is very different from traditional HSP-like heuristics based on ignoring negative interactions of operators. In this article, we give a full account of Fast Downward's approach to solving multivalued planning tasks. We extend our earlier discussion of the causal graph heuristic to tasks involving axioms and conditional effects and present some novel techniques for search control that are used within Fast Downward's best-first search algorithm: preferred operators transfer the idea of helpful actions from local search to global best-first search, deferred evaluation of heuristic functions mitigates the negative effect of large branching factors on search performance, and multiheuristic best-first search combines several heuristic evaluation functions within a single search algorithm in an orthogonal way. We also describe efficient data structures for fast state expansion (successor generators and axiom evaluators) and present a new non-heuristic search algorithm called focused iterative-broadening search, which utilizes the information encoded in causal graphs in a novel way. Fast Downward has proven remarkably successful: It won the "classical" (i. e., propositional, non-optimising) track of the 4th International Planning Competition at ICAPS 2004, following in the footsteps of planners such as FF and LPG. Our experiments show that it also performs very well on the benchmarks of the earlier planning competitions and provide some insights about the usefulness of the new search enhancements.