In defense of PDDL axioms

  • Authors:

  • Sylvie Thiébaux;Jörg Hoffmann;Bernhard Nebel

  • Affiliations:

  • Computer Sciences Laboratory, The Australian National University, Knowledge Representation & Reasoning Program, National ICT Australia, Canberra, ACT 0200, Australia;Max-Planck-Institut für Informatik, D-66123 Saarbrücken, Germany;Institut für Informatik, Albert-Ludwigs-Universität Freiburg, D-79110 Freiburg, Germany

  • Venue:
  • Artificial Intelligence
  • Year:
  • 2005

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Abstract

There is controversy as to whether explicit support for pddl-like axioms and derived predicates is needed for planners to handle real-world domains effectively. Many researchers have deplored the lack of precise semantics for such axioms, while others have argued that it might be best to compile them away. We propose an adequate semantics for pddl axioms and show that they are an essential feature by proving that it is impossible to compile them away if we restrict the growth of plans and domain descriptions to be polynomial. These results suggest that adding a reasonable implementation to handle axioms inside the planner is beneficial for the performance. Our experiments confirm this suggestion.