Conference Proceedings

Numeric Planning with Disjunctive Global Constraints via SMT

Enrico Scala, Miquel Ramirez, Patrik Haslum, Sylvie Thiebaux

TWENTY-SIXTH INTERNATIONAL CONFERENCE ON AUTOMATED PLANNING AND SCHEDULING (ICAPS 2016) | ASSOC ADVANCEMENT ARTIFICIAL INTELLIGENCE | Published : 2016

Abstract

This paper describes a novel encoding for sequential numeric planning into the problem of determining the satisfiability of a logical theory T. We introduce a novel technique, orthogonal to existing work aiming at producing more succinct encodings that enables the theory solver to roll up an unbounded yet finite number of instances of an action into a single plan step, greatly reducing the horizon at which T models valid plans. The technique is then extended to deal with problems featuring disjunctive global constraints, in which the state space becomes a non-convex n dimensional polytope. In order to empirically evaluate the encoding, we build a planner, SpringRoll, around a state-of-the-ar..

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Grants

Awarded by ARC Discovery Project "Robust AI Planning for Hybrid Systems"


Funding Acknowledgements

This research is supported by the ARC Discovery Project "Robust AI Planning for Hybrid Systems" (DP140104219) and NICTA. NICTA is funded by the Australian Government through the Department of Communications and the Australian Research Council through the ICT Centre of Excellence Program. We would also like to thank the anonymous reviewers and Alban Grastien for their constructive and helpful comments.