On the Compilation of Plan Constraints and Preferences

Stefan Edelkamp

State trajectory and preference constraints are the two language features introduced in PDDL3 for describing benchmarks of the 5th international planning competition. In this work we make existing solver technology applicable to planning with PDDL3 domains by compiling the new constructs back to PDDL2. State trajectory constraints are translated into LTL formulae and further to Büchi automata, one for each constraint. These automata are compiled to grounded PDDL and the results are merged with the grounded representation of the original problem. Preference constraints are compiled away using numerical state variables. We provide experimental results in heuristic search planning.

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