A Structure-preserving Clause Form Translation
Journal of Symbolic Computation
ECAI '92 Proceedings of the 10th European conference on Artificial intelligence
A linear-time transformation of linear inequalities into conjunctive normal form
Information Processing Letters
Planning as constraint satisfaction: solving the planning graph by compiling it into CSP
Artificial Intelligence
Combining the Expressivity of UCPOP with the Efficiency of Graphplan
ECP '97 Proceedings of the 4th European Conference on Planning: Recent Advances in AI Planning
Pueblo: A Modern Pseudo-Boolean SAT Solver
Proceedings of the conference on Design, Automation and Test in Europe - Volume 2
Unrestricted vs restricted cut in a tableau method for Boolean circuits
Annals of Mathematics and Artificial Intelligence
An approach to efficient planning with numerical fluents and multi-criteria plan quality
Artificial Intelligence
Algorithms for maximum satisfiability using unsatisfiable cores
Proceedings of the conference on Design, automation and test in Europe
Long-distance mutual exclusion for planning
Artificial Intelligence
Solving Optimization Problems with DLL
Proceedings of the 2006 conference on ECAI 2006: 17th European Conference on Artificial Intelligence August 29 -- September 1, 2006, Riva del Garda, Italy
Exploiting Cycle Structures in Max-SAT
SAT '09 Proceedings of the 12th International Conference on Theory and Applications of Satisfiability Testing
Algorithms for Weighted Boolean Optimization
SAT '09 Proceedings of the 12th International Conference on Theory and Applications of Satisfiability Testing
Planning as satisfiability with preferences
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Within-problem learning for efficient lower bound computation in Max-SAT solving
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 1
The FF planning system: fast plan generation through heuristic search
Journal of Artificial Intelligence Research
Planning through stochastic local search and temporal action graphs in LPG
Journal of Artificial Intelligence Research
The metric-FF planning system: translating "Ignoring delete lists" to numeric state variables
Journal of Artificial Intelligence Research
Journal of Artificial Intelligence Research
The deterministic part of IPC-4: an overview
Journal of Artificial Intelligence Research
Optiplan: unifying IP-based and graph-based planning
Journal of Artificial Intelligence Research
MINIMAXSAT: an efficient weighted max-SAT solver
Journal of Artificial Intelligence Research
Loosely coupled formulations for automated planning: an integer programming perspective
Journal of Artificial Intelligence Research
Unifying SAT-based and graph-based planning
IJCAI'99 Proceedings of the 16th international joint conference on Artifical intelligence - Volume 1
Long-distance mutual exclusion for propositional planning
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Exploiting inference rules to compute lower bounds for MAX-SAT solving
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Planning as satisfiability: parallel plans and algorithms for plan search
Artificial Intelligence
Optimal symbolic planning with action costs and preferences
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Soft goals can be compiled away
Journal of Artificial Intelligence Research
Structural relaxations by variable renaming and their compilation for solving MinCostSAT
CP'07 Proceedings of the 13th international conference on Principles and practice of constraint programming
Constraint integer programming: a new approach to integrate CP and MIP
CPAIOR'08 Proceedings of the 5th international conference on Integration of AI and OR techniques in constraint programming for combinatorial optimization problems
Towards more effective unsatisfiability-based maximum satisfiability algorithms
SAT'08 Proceedings of the 11th international conference on Theory and applications of satisfiability testing
Introducing Preferences in Planning as Satisfiability
Journal of Logic and Computation
Clause form conversions for boolean circuits
SAT'04 Proceedings of the 7th international conference on Theory and Applications of Satisfiability Testing
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Planning as Satisfiability SAT is currently the best approach for optimally wrt makespan solving classical planning problems and the extension of this framework to include preferences is nowadays considered the reference approach to compute “optimal” plans in SAT-based planning. It includes reasoning about soft goals and plans length as introduced in the 2006 and 2008 editions of the International Planning Competitions IPCs. Despite the fact that the planning as satisfiability with preferences framework has helped to enhance the applicability of the SAT-based approach in planning, the actual approach used within the framework somehow suffers from some main limitations: the metrics, i.e. linear optimization functions defined over goals and/or actions, which account for plan quality issues, are fully reduced to SAT formulas, further increasing the size of often already big formulas; moreover, the search for optimal solutions is performed by forcing a heuristic ordering.In this paper we address these issues by reducing the IPC planning problems with soft goals from IPC-5 and/or action costs from IPC-6 to optimization problems extending SAT and that can naturally handle the integer “weights” of the metrics, i.e. to Max-SAT and Pseudo-Boolean PB problems. Our idea is partially motivated by the approach followed by IPPLAN in the deterministic part of the IPC-5 and by the recent availability of efficient Max-SAT and PB solvers. First, we prove that our approach is correct; then, we implement these ideas in SATPLAN and run a wide experimental analysis on planning problems from IPC-5 and IPC-6, taking as references state-of-the-art planners on these competitions and the previous SAT-based approach. Our analysis shows that our approach is competitive and helps to further widen the set of benchmarks that a SAT-based framework can efficiently deal with. At the same time, as a side effect of this analysis, challenging Max-SAT and PB benchmarks have been identified, as well as the Max-SAT and PB solvers performing best on these planning problems.