Mixed Discrete Continuous Non-Linear Planning through Piecewise Linear Approximation

Book One

Volume

Proceedings of the International Conference on Automated Planning and Scheduling, 29

Main Track

Reasoning with continuously changing numeric quantities is vital to applying planners in many real-world scenarios. Several planners capable of doing this have been developed recently. Scalability remains a challenge for such planners, especially those that reason with non-linear continuous change. In this paper, we present a novel approach to reasoning with non-linear domains. Bounding the problem using linear over and under-estimators, allows us to use scalable planners that handle linear change to find plans for non-linear domains. We compare the performance of our approach to existing planners on several domains and demonstrate that our planner can achieve state-of-the-art performance in non-linear planning.

10.1609/icaps.v29i1.3469