Fixing Plans for PDDL+ Problems: Theoretical and Practical Implications

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2 Citations (Scopus)

Abstract

The plan, execution, and replan framework has proven to be extremely valuable in complex real-world applications, where the dynamics of the environment cannot be fully encoded in the domain model. However, this comes at the cost of regenerating plans from scratch, which can be expensive when expressive formalisms like PDDL+ are used. Given the complexity of generating PDDL+ plans, it would be ideal to reuse as much as possible of an existing plan, rather than generating a new one from scratch every time. To support more effective exploitation of the plan, execution, and replan framework in PDDL+, in this paper, we introduce the problem of discretised PDDL+ plan fixing, which allows one to fix existing plans according to some defined constraints. We demonstrate the theoretical implications of the introduced notion and introduce reformulations to address the problem using domain-independent planning engines. Our results show that such reformulations can outperform replanning from scratch and unlock planning engines to solve more problems with fine-grained discretisations.

Original languageEnglish
Title of host publicationProceedings of the Thirty-Third International Conference on Automated Planning and Scheduling
Subtitle of host publication(ICAPS 2023)
EditorsSven Koenig, Roni Stern, Mauro Vallati
PublisherAAAI press
Pages324-333
Number of pages10
Volume33
Edition1
ISBN (Print)1577358813, 9781577358817
DOIs
Publication statusPublished - 2 Jul 2023
Event33rd International Conference on Automated Planning and Scheduling - Charles University, Prague, Czech Republic
Duration: 8 Jul 202313 Jul 2023
Conference number: 33
https://icaps23.icaps-conference.org/

Publication series

NameProceedings of the International Conference on Automated Planning and Scheduling
PublisherAAAI Press
Number1
Volume33
ISSN (Print)2334-0835
ISSN (Electronic)2334-0843

Conference

Conference33rd International Conference on Automated Planning and Scheduling
Abbreviated titleICAPS 2023
Country/TerritoryCzech Republic
CityPrague
Period8/07/2313/07/23
Internet address

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