@incollection{dornhege_semantic_2012,
	title = {Semantic attachments for domain-independent planning systems},
	isbn = {978-3-642-25115-3},
	abstract = {Solving real-world problems using symbolic planning often requires a simplified formulation of the original problem, since certain subproblems cannot be represented at all or on ly in a way leading to inefficiency. For example, manipulation planning may appear as a subproblem in a robotic planning context or a packing problem can be part of a logistics task. In this paper we propose an extension of PDDL for specifying semantic attachments . This allows the evaluation of grounded predicates as well as the change of fluents by externally spec - ified functions. Furthermore, we describe a general schema of integrating semantic attachments into a forward-chaini ng planner and report on our experience of adding this extensio n to the planners FF and Temporal Fast Downward. Finally, we present some preliminary experiments using semantic attac h- ments.},
	booktitle = {Towards service robots for everyday environments},
	author = {Dornhege, Christian and Eyerich, Patrick and Keller, Thomas and Trüg, Sebastian and Brenner, Michael and Nebel, Bernhard},
	year = {2012},
	doi = {10.1007/978-3-642-25116-0_9},
	note = {ISSN: 16107438}
}

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