Processes and continuous change in a SAT-based planner

  • Authors:

  • Ji-Ae Shin;Ernest Davis

  • Affiliations:

  • Courant Institute, New York University, New York, NY;Courant Institute, New York University, New York, NY

  • Venue:
  • Artificial Intelligence
  • Year:
  • 2005

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Abstract

The TM-LPSAT planner can construct plans in domains containing atomic actions and durative actions; events and processes; discrete, real-valued, and interval-valued fluents; reusable resources, both numeric and interval-valued; and continuous linear change to quantities. It works in three stages. In the first stage, a representation of the domain and problem in an extended version of PDDL+ is compiled into a system of Boolean combinations of propositional atoms and linear constraints over numeric variables. In the second stage, a SAT-based arithmetic constraint solver, such as LPSAT or MathSAT, is used to find a solution to the system of constraints. In the third stage, a correct plan is extracted from this solution. We discuss the structure of the planner and show how planning with time and metric quantities is compiled into a system of constraints. The proofs of soundness and completeness over a substantial subset of our extended version of PDDL+ are presented.