PDDL+ Planning with Hybrid Automata: Foundations of Translating Must Behavior

Book One

Volume

Proceedings of the International Conference on Automated Planning and Scheduling, 25

Technical Papers

Planning in hybrid domains poses a special challenge due to the involved mixed discrete-continuous dynamics. A recent solving approach for such domains is based on applying model checking techniques on a translation of PDDL+ planning problems to hybrid automata. However, the proposed translation is limited because must behavior is only over-approximated, and hence, processes and events are not reflected exactly. In this paper, we present the theoretical foundation of an exact PDDL+ translation. We propose a schema to convert a hybrid automaton with must transitions into an equivalent hybrid automaton featuring only may transitions.

10.1609/icaps.v25i1.13717