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Ji-Ae Shin

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AIJ Journal 2005 Journal Article

Processes and continuous change in a SAT-based planner

Ji-Ae Shin
Ernest Davis

The TM-LPSAT planner can construct plans in domains containing atomic actions and durative actions; events and processes; discrete, real-valued, and interval-valued fluents; reusable resources, both numeric and interval-valued; and continuous linear change to quantities. It works in three stages. In the first stage, a representation of the domain and problem in an extended version of PDDL+ is compiled into a system of Boolean combinations of propositional atoms and linear constraints over numeric variables. In the second stage, a SAT-based arithmetic constraint solver, such as LPSAT or MathSAT, is used to find a solution to the system of constraints. In the third stage, a correct plan is extracted from this solution. We discuss the structure of the planner and show how planning with time and metric quantities is compiled into a system of constraints. The proofs of soundness and completeness over a substantial subset of our extended version of PDDL+ are presented.

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AAAI Conference 2004 Conference Paper

Continuous Time in a SAT-Based Planner

Ji-Ae Shin
Ernest Davis

The TM-LPSAT planner can construct plans in domains containing atomic actions and durative actions; events and processes; discrete, real-valued, and interval-valued fluents; and continuous linear change to quantities. It works in three stages. In the first stage, a representation of the domain and problem in an extended version of PDDL+ is compiled into a system of propositional combinations of propositional variables and linear constraints over numeric variables. In the second stage, the LPSAT constraint engine (Wolfman & Weld 2000) is used to find a solution to the system of constraints. In the third stage, a correct parallel plan is extracted from this solution. We discuss the structure of the planner and show how a real-time temporal model is compiled into LPSAT constraints.

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