A Compilation of the Full PDDL+ Language into SMT. Cashmore, M., Fox, M., Long, D., & Magazzeni, D. In
A Compilation of the Full PDDL+ Language into SMT [link]Paper  abstract   bibtex   
Planning in hybrid systems is key to dealing with real-world applications. PDDL+ supports the representation of domains with mixed discrete and continuous dynamics, and supports events and processes modeling 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 2006. 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.
@inproceedings {icaps16-147,
    track    = {​Main Track},
    title    = {A Compilation of the Full PDDL+ Language into SMT},
    url      = {http://www.aaai.org/ocs/index.php/ICAPS/ICAPS16/paper/view/13101},
    author   = {Michael Cashmore and  Maria Fox and  Derek Long and  Daniele Magazzeni},
    abstract = {Planning in hybrid systems is key to dealing with real-world applications. PDDL+ supports the representation of domains with mixed discrete and continuous dynamics, and supports events and processes modeling 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 2006. 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.},
    keywords = {Planning in mixed discrete / continuous domains,Constraint reasoning / OR techniques}
}
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