PDDL+ Planning with Hybrid Automata: Foundations of Translating Must Behavior
Date
2016
Authors
Bogomolov, Sergiy
Magazzeni, Daniele
Minopoli, Stefano
Wehrle, Martin
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Publisher
Association for the Advancement of Artificial Intelligence (AAAI)
Abstract
Planning in hybrid domains poses a special challenge due to the involved mixed discrete-continuous dynamics. A recent solving approach for such domains is based on applying model checking techniques on a translation of PDDL+ planning problems to hybrid automata. However, the proposed translation is limited because must behavior is only overapproximated, and hence, processes and events are not re- flected exactly. In this paper, we present the theoretical foundation of an exact PDDL+ translation. We propose a schema to convert a hybrid automaton with must transitions into an equivalent hybrid automaton featuring only may transitions.
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Source
Proceedings of the Twenty-Sixth International Conference on Automated Planning and Scheduling (ICAPS 2016)
Type
Conference paper
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Access Statement
Open Access