AAAI

Association for the Advancement of Artificial Intelligence

Home > Proceedings / Proceedings of the International Conference on Automated Planning and Scheduling, 19

Semantic Attachments for Domain-Independent Planning Systems

Authors

Christian Dornhege,Patrick Eyerich,Thomas Keller,Sebastian Trüg,Michael Brenner,Bernhard Nebel

University of Freiburg,University of Freiburg,University of Freiburg,University of Freiburg,University of Freiburg,University of Freiburg


Proceedings:

Vol. 19 (2009): Nineteenth International Conference on Automated Planning and Scheduling

Volume

Issue:

Vol. 19 (2009): Nineteenth International Conference on Automated Planning and Scheduling

Track:

Long Papers

Downloads:

Download PDF

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 only 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 specified functions. Furthermore, we describe a general schema of integrating semantic attachments into a forward-chaining planner and report on our experience of adding this extension to the planners FF and Temporal Fast Downward. Finally, we present some preliminary experiments using semantic attachments.

DOI:

10.1609/icaps.v19i1.13380


ICAPS

Vol. 19 (2009): Nineteenth International Conference on Automated Planning and Scheduling