AAAI Publications, Twenty-Sixth International Conference on Automated Planning and Scheduling

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A Compilation of the Full PDDL+ Language into SMT
Michael Cashmore, Maria Fox, Derek Long, Daniele Magazzeni

Last modified: 2016-03-30


Planning in hybrid systems is important for dealing with real-world applications. PDDL+ supports this representation of domains with mixed discrete and continuous dynamics, and supports events and processes modelling exogenous change. Motivated by numerous SAT-based planning approaches, we propose an approach to PDDL+ planning through SMT, describing an SMT encoding that captures all the features of the PDDL+ problem as published by Fox and Long. The encoding can be applied on domains with nonlinear continuous change. We apply this encoding in a simple planning algorithm, demonstrating excellent results on a set of benchmark problems.

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