369:. Distinctions are made between logical and numeric states: transitions between logical states are assumed to be instantaneous whilst occupation of a given logical state can endure over time. Thus in PDDL+ continuous update expressions are restricted to occur only in process effects. Actions and events, which are instantaneous, are restricted to the expression of discrete change. This introduces the before mentioned 3-part modelling of periods of continuous change:
365:. The key this extension provides is the ability to model the interaction between the agent's behaviour and changes that are initiated by the agent's environment. Processes run over time and have a continuous effect on numeric values. They are initiated and terminated either by the direct action of the agent or by events triggered in the environment. This 3-part structure is referred to as the
48:
the action and the effects of the action. PDDL separates the model of the planning problem into two major parts: (1) a domain description of those elements that are present in every problem of the problem domain, and (2) the problem description which determines the specific planning problem. The problem description includes the initial state and the goals to be accomplished. The
546:) not to speak of that the mappings could be arbitrary, i.e. the domain or range of a function (e.g. predicate, numeric fluent) could be any level 0/1/2 type. For example, functions could map from arbitrary functions to arbitrary functions...). OPT was basically intended to be (almost) upwardly compatible with PDDL2.1. The notation for
432:
encodings of planning problems rather than PDDL models. Because of the mentioned differences planning and execution of plans (e.g. during critical space missions) may be more robust when using NDDL, but the correspondence to standard planning-problem representations other than PDDL may be much less
47:
PDDL is a human-readable format for problems in automated planning that gives a description of the possible states of the world, a description of the set of possible actions, a specific initial state of the world, and a specific set of desired goals. Action descriptions include the prerequisites of
662:
anguage) is a newer variant of NDDL from 2006, which is more abstract than most existing planning languages such as PDDL or NDDL. The goal of this language was to simplify the formal analysis and specification of planning problems that are intended for safety-critical applications such as power
786:
assumes that the environment is deterministic and fully observable, the same holds for MA-PDDL, i.e. every agent can access the value of every state fluent at every time-instant and observe every previously executed action of each agent, and also the concurrent actions of agents unambiguously
296:(soft-constraints in form of logical expressions, similar to hard-constraints, but their satisfaction wasn't necessary, although it could be incorporated into the plan-metric e.g. to maximize the number of satisfied preferences, or to just measure the quality of a plan) to enable
320:(i.e. functions' range now could be not only numerical (integer or real), but it could be any object-type also). Thus PDDL3.1 adapted the language even more to modern expectations with a syntactically seemingly small, but semantically quite significant change in expressiveness.
773:
action to lift a heavy table into the air, or otherwise the table would remain on the ground (this is an example of constructive synergy, but destructive synergy can be also easily represented in MA-PDDL)). Moreover, as kind of syntactic sugar, a simple mechanism for the
83:(OWL). Ontologies are a formal way to describe taxonomies and classification networks, essentially defining the structure of knowledge for various domains: the nouns representing classes of objects and the verbs representing relations between the objects.
39:(IPC) possible, and then evolved with each competition. The standardization provided by PDDL has the benefit of making research more reusable and easily comparable, though at the cost of some expressive power, compared to domain-specific systems.
225:(a logical expression over facts that should be true/false in a goal-state of the planning environment). Thus eventually PDDL1.2 captured the "physics" of a deterministic single-agent discrete fully accessible planning environment.
130:
determine the specific planning-problem (these elements are contained in the problem-description). Thus several problem-descriptions may be connected to the same domain-description (just as several instances may exist of a class in
272:(to model exogenous events occurring at given time independently from plan-execution). Eventually PDDL2.2 extended the language with a few important elements, but wasn't a radical evolution compared to PDDL2.1 after PDDL1.2.
480:
based communication among agents. This assumption may be artificial, since agents executing concurrent plans shouldn't necessarily communicate to be able to function in a multi-agent environment. Finally, MAPL introduces
252:(which could have variable, non-discrete length, conditions and effects). Eventually PDDL2.1 allowed the representation and solution of many more real-world problems than the original version of the language.
55:
PDDL becomes the input to planner software, which is usually a domain-independent
Artificial Intelligence (AI) planner. PDDL does not describe the output of the planner software, but the output is usually a
468:(before, after, etc.). Nonetheless, in PDDL3.0 a more thorough temporal model was given, which is also compatible with the original PDDL syntax (and it is just an optional addition). MAPL also introduces
381:
an action or event finally stops the execution of the process and terminates its effect on the numeric variable. Comment: the goals of the plan might be achieved before an active process is stopped.
787:
determine the next state of the environment. This was improved later by the addition of partial-observability and probabilistic effects (again, in form of two new modular requirements,
151:(a sequence of actions, some of which may be executed even in parallel sometimes). Now lets take a look at the contents of a PDDL1.2 domain and problem description in general...
698:
IPC in 2011. Conceptually it is based on PPDDL1.0 and PDDL3.0, but practically it is a completely different language both syntactically and semantically. The introduction of
542:), which could be generic, so their parameters (the domain and range of the generic mapping) could be defined with variables, which could have an even higher level type (
520:, defined as formalized conceptual frameworks for planning domains about which planning applications are to reason. Its syntax was based on PDDL, but it had a much more
1911:
268:(to model the dependency of given facts from other facts, e.g. if A is reachable from B, and B is reachable from C, then A is reachable from C (transitivity)), and
710:
by representing everything (state-fluents, observations, actions, ...) with variables. This way RDDL departs from PDDL significantly. Grounded RDDL corresponds to
2025:
2069:
707:
248:(to allow quantitative evaluation of plans, and not just goal-driven, but utility-driven planning, i.e. optimization, metric-minimization/maximization), and
2047:
2077:
1875:
292:
expressions, which should be true for the state-trajectory produced during the execution of a plan, which is a solution of the given planning problem) and
143:
of a planner (usually domain-independent AI planner) software, which aims to solve the given planning-problem via some appropriate planning algorithm. The
2375:
812:
64:
460:
anguage, pronounced "maple") is an extension of PDDL2.1 from around 2003. It is a quite serious modification of the original language. It introduces
1374:
And this is the problem definition that instantiates the previous domain definition with a concrete environment with two rooms and two balls.
1814:
667:, and also some other concepts, but still its expressive power is much less than PDDL's (in hope of staying robust and formally verifiable).
126:
present in every specific problem of the problem-domain (these elements are contained in the domain-description), and those elements, which
139:
for example). Thus a domain and a connecting problem description forms the PDDL-model of a planning-problem, and eventually this is the
631:(which were true, if the state-trajectory incorporated at least one goal-state). Eventually these changes allowed PPDDL1.0 to realize
36:
300:. Eventually PDDL3.0 updated the expressiveness of the language to be able to cope with recent, important developments in planning.
28:
1744:
635:
planning, where there may be uncertainty in the state-transitions, but the environment is fully observable for the planner/agent.
357:
This extension of PDDL2.1 from around 2002–2006 provides a more flexible model of continuous change through the use of autonomous
240:
52:
below gives a domain definition and a problem description instance for the automated planning of a robot with two gripper arms.
2297:. 22nd International Conference on Automated Planning and Scheduling (ICAPS-2012). Atibaia, São Paulo, Brazil. pp. 19–27.
485:
for the sake of handling concurrency of actions. Thus events become part of plans explicitly, and are assigned to agents by a
1625:
516:
from around 2003–2005 (with some similarities to PDDL+). It was an attempt to create a general-purpose notation for creating
429:
76:
1984:
234:
1940:
765:. The preconditions of actions now may directly refer to concurrent actions (e.g. the actions of other agents) and thus
1922:
2380:
2345:
169:
132:
68:
1835:
2163:
Proceedings of the
Workshop on Heuristics for Domain-independent Planning: Progress, Ideas, Limitations, Challenges
1962:
1682:
2243:
297:
1867:
554:
was borrowed mainly from PDDL+ and PDDL2.1, but beyond that OPT offered many other significant extensions (e.g.
261:
711:
373:
an action or event starts a period of continuous change on a numeric variable expressed by means of a process;
72:
1675:
663:
management or automated rendezvous in future manned spacecraft. APPL used the same concepts as NDDL with the
412:'s response to PDDL from around 2002. Its representation differs from PDDL in several respects: 1) it uses a
2177:
703:
632:
769:
can be represented in a general, flexible way (e.g. suppose that at least 2 agents are needed to execute a
538:), but also the functions/fluents defined above these objects had types in the form of arbitrary mappings (
90:
syntax definition of PDDL 3.1. Several online resources of how to use PDDL are available, and also a book.
2096:
1846:
1654:
417:
221:(the initial state of the planning environment, a conjunction of true/false facts), and the definition of
148:
57:
2155:
1777:
464:(which may be n-ary: true, false, unknown, or anything else). It introduces a temporal model given with
184:(operator-schemas with parameters, which should be grounded/instantiated during execution). Actions had
136:
80:
2006:
333:
329:
164:(to declare those model-elements to the planner which the PDDL-model is actually using), definition of
87:
2287:
702:
is one of the most important changes in RDDL compared to PPDDL1.0. It allows efficient description of
107:
IPC in 1998 and 2000 respectively. It separated the model of the planning problem in two major parts:
2165:. 17th International Conference on Automated Planning and Scheduling (ICAPS-2007). Rhode Island, US.
2133:
2101:
1851:
1798:
1659:
1770:
2187:. 13th International Conference on Automated Planning and Scheduling (ICAPS-2003). Trento, Italy.
2114:
2086:
1892:
122:. Such a division of the model allows for an intuitive separation of those elements, which are
1810:
421:
244:(e.g. to model non-binary resources such as fuel-level, time, energy, distance, weight, ...),
1621:
623:(for incrementing or decrementing the total reward of a plan in the effects of the actions),
337:
2324:
2309:
2222:"PPDDL 1.0: an extension to PDDL for expressing planning domains with probabilistic effects"
2199:
2106:
1912:"PDDL2.2: The Language for the Classical Part of the 4th International planning Competition"
1884:
1802:
2265:
1792:
526:
1651:
Proceedings of the 3rd
International NASA Workshop on Planning and Scheduling for Space
531:
513:
32:
1948:
Proceedings of the ICAPS-2006 Workshop on
Preferences and Soft Constraints in Planning
1834:; Knoblock, Craig; Ram, Ashwin; Veloso, Manuela; Weld, Daniel; Wilkins, David (1998).
799:, and both being compatible with all the previous features of the language, including
608:
341:
2369:
580:
2221:
1791:
Haslum, Patrik; Lipovetzky, Nir; Magazzeni, Daniele; Muise, Christian (April 2019).
627:(for rewarding a state-trajectory, which incorporates at least one goal-state), and
2118:
1972:. Dipartimento di Elettronica per l'Automazione, UniversitĂ degli Studi di Brescia.
1896:
695:
585:
313:
619:(discrete, general probability distributions over possible effects of an action),
2329:
289:
2295:
Proceedings of the 3rd
Workshop on the International Planning Competition (IPC)
1649:
Fox, M.; Long, D. (2002). "PDDL+: Modeling continuous time dependent effects".
1831:
1806:
524:, which allowed users to make use of higher-order constructs such as explicit
477:
60:, which is a sequence of actions, some of which may be executed in parallel.
2266:"Relational Dynamic Influence Diagram Language (RDDL): Language Description"
2048:"BNF Definition of PDDL3.1: partially corrected, with comments/explanations"
1696:
1722:
1868:"PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains"
309:
2110:
1888:
815:
instance for the automated planning of a robot with two gripper arms.
1748:
1700:
749:
multiple agents. The addition is compatible with all the features of
336:
syntax definition of PDDL3.1 can be found among the resources of the
104:
377:
the process realizes the continuous change of the numeric variable;
2200:"OPT Manual Version 1.7.3 (Reflects Opt Version 1.6.11) * DRAFT **"
2026:"BNF Definition of PDDL3.1: completely corrected, without comments"
1845:. New Haven, CT: Yale Center for Computational Vision and Control.
761:(i.e. different capabilities). Similarly different agents may have
694:
anguage) was the official language of the uncertainty track of the
180:(templates for logical facts), and also the definition of possible
2091:
714:
similarly to PPDDL1.0, but RDDL is more expressive than PPDDL1.0.
607:) 1.0 was the official language of the probabilistic track of the
176:(which are present in every problem in the domain), definition of
308:
This was the official language of the deterministic track of the
281:
280:
This was the official language of the deterministic track of the
260:
This was the official language of the deterministic track of the
612:
409:
426:
intervals (activities) and constraints between those activities
757:. It adds the possibility to distinguish between the possibly
428:. In this respect, models in NDDL look more like schemas for
147:
of the planner is not specified by PDDL, but it is usually a
615:
IPC in 2004 and 2006 respectively. It extended PDDL2.1 with
71:(ADL), among others. The PDDL language uses principles from
424:, and 2) there is no concept of states or actions, only of
2156:"Developing Domain-Independent Search Control for EUROPA2"
2070:"Modelling Mixed Discrete-Continuous Domains for Planning"
1794:
776:
inheritance and polymorphism of actions, goals and metrics
35:
and his colleagues in 1998 mainly to make the 1998/2000
708:
Partially
Observable Markov Decision Processes (POMDPs)
1723:"What is Planning Domain Definition Language (PDDL)?"
2207:
Unpublished
Manuscript from Drew McDermott's Website
1992:
Unpublished
Manuscript Linked from the IPC-5 Website
470:
actions whose duration will be determined in runtime
414:
variable/value representation (timelines/activities)
188:(variables that may be instantiated with objects),
2134:"Constraint-based attribute and interval planning"
316:IPC in 2008 and 2011 respectively. It introduced
2273:Unpublished Manuscript from the IPC-2011 Website
2055:Unpublished Manuscript from the IPC-2011 Website
2033:Unpublished Manuscript from the IPC-2011 Website
1836:"PDDL---The Planning Domain Definition Language"
2143:. Moffett Field, CA: NASA Ames Research Center.
1622:"Writing Planning Domains and Problems in PDDL"
103:This was the official language of the 1st and
2011:Unpublished Summary from the IPC-2008 Website
795:, respectively, the latter being inspired by
512:ypes) was a profound extension of PDDL2.1 by
86:The latest version of PDDL is described in a
8:
2310:"Converting MA-PDDL to extensive-form games"
1745:"Planning Domain Definition Language (PDDL)"
2078:Journal of Artificial Intelligence Research
1963:"Plan Constraints and Preferences in PDDL3"
1941:"Preferences and Soft Constraints in PDDL3"
1876:Journal of Artificial Intelligence Research
2308:Kovacs, D. L.; Dobrowiecki, T. P. (2013).
737:) is a minimalistic, modular extension of
209:definition, the definition of the related
65:Stanford Research Institute Problem Solver
2328:
2251:NASA Technical Report NASA/TM-2006-214518
2231:. Pittsburgh: Carnegie Mellon University.
2220:Younes, H. L. S.; Littman, M. L. (2004).
2100:
2090:
1921:. Institut fĂĽr Informatik. Archived from
1850:
1658:
1644:
1642:
778:was also introduced in MA-PDDL (assuming
534:(i.e. not only domain objects had types (
2244:"An Abstract Plan Preparation Language"
1843:Technical Report CVC TR98003/DCS TR1165
1615:
1613:
1609:
205:The problem description consisted of a
196:. The effects of actions could be also
348:Successors/variants/extensions of PDDL
328:The latest version of the language is
233:This was the official language of the
156:The domain description consisted of a
63:The PDDL language was inspired by the
2154:Bernardini, S.; Smith, D. E. (2007).
759:different actions of different agents
213:, the definition of all the possible
31:languages. It was first developed by
29:Artificial Intelligence (AI) planning
7:
2288:"A Multi-Agent Extension of PDDL3.1"
753:and addresses most of the issues of
2185:Proceedings of the Workshop on PDDL
1910:Edelkamp, S.; Hoffmann, J. (2003).
811:This is the domain definition of a
75:languages which are used to author
21:Planning Domain Definition Language
1769:Helmert, Malte (16 October 2014).
489:, which is also part of the plan.
217:(atoms in the logical universe),
94:De facto official versions of PDDL
37:International Planning Competition
14:
2376:Automated planning and scheduling
1970:Technical Report R. T. 2005-08-47
1830:McDermott, Drew; Ghallab, Malik;
483:events (endogenous and exogenous)
462:non-propositional state-variables
149:totally or partially ordered plan
133:OOP (Object Oriented Programming)
58:totally or partially ordered plan
2178:"A Multiagent Planning Language"
767:actions with interacting effects
712:Dynamic Bayesian Networks (DBNs)
704:Markov Decision Processes (MDPs)
433:intuitive than in case of PDDL.
168:(just like a class-hierarchy in
2132:Frank, J.; Jonsson, A. (2002).
1983:Gerevini, A.; Long, D. (2005).
1961:Gerevini, A.; Long, D. (2005).
1939:Gerevini, A.; Long, D. (2006).
741:introduced in 2012 (i.e. a new
576:hierarchy of domain definitions
27:) is an attempt to standardize
2242:Butler, R.; Muñoz, C. (2006).
2229:Technical Report CMU-CS-04-167
1626:Australian National University
763:different goals and/or metrics
1:
633:Markov Decision Process (MDP)
572:hierarchical action expansion
474:explicit plan synchronization
288:(hard-constraints in form of
16:Planning programming language
2351:. Carnegie Mellon University
1985:"BNF Description of PDDL3.0"
1676:"BNF definition of PDDL 3.1"
783:
750:
738:
286:state-trajectory constraints
49:
2330:10.12700/APH.10.08.2013.8.2
2317:Acta Polytechnica Hungarica
584:for compatibility with the
284:IPC in 2006. It introduced
264:IPC in 2004. It introduced
250:durative/continuous actions
237:IPC in 2002. It introduced
137:OWL (Web Ontology Language)
69:Action description language
2397:
2068:Fox, M.; Long, D. (2006).
1866:Fox, M.; Long, D. (2003).
1683:University of Huddersfield
796:
476:which is realized through
198:conditional (when-effects)
160:definition, definition of
1807:10.1007/978-3-031-01584-7
1771:"An Introduction to PDDL"
1674:Kovacs, Daniel L (2011).
754:
745:requirement) that allows
298:preference-based planning
1919:Technical Report No. 195
1697:"A PDDL Reference Guide"
1376:
817:
367:start-process-stop model
73:knowledge representation
530:allowing for efficient
2286:Kovacs, D. L. (2012).
2198:McDermott, D. (2005).
2046:Kovacs, D. L. (2011).
2024:Kovacs, D. L. (2011).
793::probabilistic-effects
789::partial-observability
334:BNF (Backus–Naur Form)
270:timed initial literals
88:BNF (Backus–Naur Form)
2007:"Changes in PDDL 3.1"
1778:University of Toronto
700:partial observability
629:goal-achieved fluents
617:probabilistic effects
522:elaborate type system
166:object-type hierarchy
81:Web Ontology Language
2176:Brenner, M. (2003).
2005:Helmert, M. (2008).
782:is declared). Since
665:extension of actions
79:, an example is the
2264:Sanner, S. (2010).
747:planning by and for
560:non-Boolean fluents
120:problem description
2381:Computer languages
266:derived predicates
219:initial conditions
112:domain description
2346:"PDDL by Example"
2344:Veloso, Manuela.
2111:10.1613/jair.2044
1950:. pp. 46–54.
1889:10.1613/jair.1129
1816:978-3-031-00456-8
686:ynamic influence
570:between actions,
422:first-order logic
342:IPC-2014 homepage
338:IPC-2011 homepage
324:Current situation
172:), definition of
67:(STRIPS) and the
2388:
2360:
2359:
2357:
2356:
2350:
2341:
2335:
2334:
2332:
2314:
2305:
2299:
2298:
2292:
2283:
2277:
2276:
2270:
2261:
2255:
2254:
2248:
2239:
2233:
2232:
2226:
2217:
2211:
2210:
2204:
2195:
2189:
2188:
2182:
2173:
2167:
2166:
2160:
2151:
2145:
2144:
2141:Technical Report
2138:
2129:
2123:
2122:
2104:
2094:
2074:
2065:
2059:
2058:
2052:
2043:
2037:
2036:
2030:
2021:
2015:
2014:
2002:
1996:
1995:
1989:
1980:
1974:
1973:
1967:
1958:
1952:
1951:
1945:
1936:
1930:
1929:
1927:
1916:
1907:
1901:
1900:
1872:
1863:
1857:
1856:
1854:
1840:
1827:
1821:
1820:
1788:
1782:
1781:
1775:
1766:
1760:
1759:
1757:
1755:
1741:
1735:
1734:
1732:
1730:
1718:
1712:
1711:
1709:
1707:
1693:
1687:
1686:
1680:
1671:
1665:
1664:
1662:
1646:
1637:
1636:
1634:
1632:
1620:Haslum, Patrik.
1617:
1599:
1596:
1593:
1590:
1587:
1584:
1581:
1578:
1575:
1572:
1569:
1566:
1563:
1560:
1557:
1554:
1551:
1548:
1545:
1542:
1539:
1536:
1533:
1530:
1527:
1524:
1521:
1518:
1515:
1512:
1509:
1506:
1503:
1500:
1497:
1494:
1491:
1488:
1485:
1482:
1479:
1476:
1473:
1470:
1467:
1464:
1461:
1458:
1455:
1452:
1449:
1446:
1443:
1440:
1437:
1434:
1431:
1428:
1425:
1422:
1419:
1416:
1413:
1410:
1407:
1404:
1401:
1398:
1395:
1392:
1389:
1386:
1383:
1380:
1370:
1367:
1364:
1361:
1358:
1355:
1352:
1349:
1346:
1343:
1340:
1337:
1334:
1331:
1328:
1325:
1322:
1319:
1316:
1313:
1310:
1307:
1304:
1301:
1298:
1295:
1292:
1289:
1286:
1283:
1280:
1277:
1274:
1271:
1268:
1265:
1262:
1259:
1256:
1253:
1250:
1247:
1244:
1241:
1238:
1235:
1232:
1229:
1226:
1223:
1220:
1217:
1214:
1211:
1208:
1205:
1202:
1199:
1196:
1193:
1190:
1187:
1184:
1181:
1178:
1175:
1172:
1169:
1166:
1163:
1160:
1157:
1154:
1151:
1148:
1145:
1142:
1139:
1136:
1133:
1130:
1127:
1124:
1121:
1118:
1115:
1112:
1109:
1106:
1103:
1100:
1097:
1094:
1091:
1088:
1085:
1082:
1079:
1076:
1073:
1070:
1067:
1064:
1061:
1058:
1055:
1052:
1049:
1046:
1043:
1040:
1037:
1034:
1031:
1028:
1025:
1022:
1019:
1016:
1013:
1010:
1007:
1004:
1001:
998:
995:
992:
989:
986:
983:
980:
977:
974:
971:
968:
965:
962:
959:
956:
953:
950:
947:
944:
941:
938:
935:
932:
929:
926:
923:
920:
917:
914:
911:
908:
905:
902:
899:
896:
893:
890:
887:
884:
881:
878:
875:
872:
869:
866:
863:
860:
857:
854:
851:
848:
845:
842:
839:
836:
833:
830:
827:
824:
821:
802:
794:
790:
781:
772:
744:
552:durative actions
487:control function
174:constant objects
2396:
2395:
2391:
2390:
2389:
2387:
2386:
2385:
2366:
2365:
2364:
2363:
2354:
2352:
2348:
2343:
2342:
2338:
2312:
2307:
2306:
2302:
2290:
2285:
2284:
2280:
2268:
2263:
2262:
2258:
2246:
2241:
2240:
2236:
2224:
2219:
2218:
2214:
2202:
2197:
2196:
2192:
2180:
2175:
2174:
2170:
2158:
2153:
2152:
2148:
2136:
2131:
2130:
2126:
2072:
2067:
2066:
2062:
2050:
2045:
2044:
2040:
2028:
2023:
2022:
2018:
2004:
2003:
1999:
1987:
1982:
1981:
1977:
1965:
1960:
1959:
1955:
1943:
1938:
1937:
1933:
1925:
1914:
1909:
1908:
1904:
1870:
1865:
1864:
1860:
1838:
1829:
1828:
1824:
1817:
1790:
1789:
1785:
1773:
1768:
1767:
1763:
1753:
1751:
1743:
1742:
1738:
1728:
1726:
1725:. Planning.wiki
1720:
1719:
1715:
1705:
1703:
1695:
1694:
1690:
1678:
1673:
1672:
1668:
1648:
1647:
1640:
1630:
1628:
1619:
1618:
1611:
1606:
1601:
1600:
1597:
1594:
1591:
1588:
1585:
1582:
1579:
1576:
1573:
1570:
1567:
1564:
1561:
1558:
1555:
1552:
1549:
1546:
1543:
1540:
1537:
1534:
1531:
1528:
1525:
1522:
1519:
1516:
1513:
1510:
1507:
1504:
1501:
1498:
1495:
1492:
1489:
1486:
1483:
1480:
1477:
1474:
1471:
1468:
1465:
1462:
1459:
1456:
1453:
1450:
1447:
1444:
1441:
1438:
1435:
1432:
1429:
1426:
1423:
1420:
1417:
1414:
1411:
1408:
1405:
1402:
1399:
1396:
1393:
1391:strips-gripper2
1390:
1387:
1384:
1381:
1378:
1372:
1371:
1368:
1365:
1362:
1359:
1356:
1353:
1350:
1347:
1344:
1341:
1338:
1335:
1332:
1329:
1326:
1323:
1320:
1317:
1314:
1311:
1308:
1305:
1302:
1299:
1296:
1293:
1290:
1287:
1284:
1281:
1278:
1275:
1272:
1269:
1266:
1263:
1260:
1257:
1254:
1251:
1248:
1245:
1242:
1239:
1236:
1233:
1230:
1227:
1224:
1221:
1218:
1215:
1212:
1209:
1206:
1203:
1200:
1197:
1194:
1191:
1188:
1185:
1182:
1179:
1176:
1173:
1170:
1167:
1164:
1161:
1158:
1155:
1152:
1149:
1146:
1143:
1140:
1137:
1134:
1131:
1128:
1125:
1122:
1119:
1116:
1113:
1110:
1107:
1104:
1101:
1098:
1095:
1092:
1089:
1086:
1083:
1080:
1077:
1074:
1071:
1068:
1065:
1062:
1059:
1056:
1053:
1050:
1047:
1044:
1041:
1038:
1035:
1032:
1029:
1026:
1023:
1020:
1017:
1014:
1011:
1008:
1005:
1002:
999:
996:
993:
990:
987:
984:
981:
978:
975:
972:
969:
966:
963:
960:
957:
954:
951:
948:
945:
942:
939:
936:
933:
930:
927:
924:
921:
918:
915:
912:
909:
906:
903:
900:
897:
894:
891:
888:
885:
882:
879:
876:
873:
870:
867:
864:
861:
858:
855:
852:
849:
846:
843:
840:
837:
834:
831:
828:
825:
822:
819:
809:
800:
792:
788:
779:
770:
742:
720:
673:
641:
594:
556:data-structures
495:
466:modal operators
439:
387:
355:
350:
326:
306:
278:
258:
231:
201:
152:
101:
96:
45:
17:
12:
11:
5:
2394:
2392:
2384:
2383:
2378:
2368:
2367:
2362:
2361:
2336:
2300:
2278:
2256:
2234:
2212:
2190:
2168:
2146:
2124:
2102:10.1.1.75.6792
2060:
2038:
2016:
1997:
1975:
1953:
1931:
1928:on 2016-10-12.
1902:
1858:
1852:10.1.1.51.9941
1822:
1815:
1783:
1761:
1736:
1713:
1688:
1666:
1660:10.1.1.15.5965
1638:
1608:
1607:
1605:
1602:
1403:gripper-strips
1377:
832:gripper-strips
818:
808:
805:
719:
716:
672:
669:
640:
637:
621:reward fluents
593:
590:
532:type inference
514:Drew McDermott
494:
491:
438:
435:
416:rather than a
386:
383:
354:
351:
349:
346:
325:
322:
318:object-fluents
305:
302:
277:
274:
257:
254:
230:
227:
100:
97:
95:
92:
44:
41:
33:Drew McDermott
15:
13:
10:
9:
6:
4:
3:
2:
2393:
2382:
2379:
2377:
2374:
2373:
2371:
2347:
2340:
2337:
2331:
2326:
2322:
2318:
2311:
2304:
2301:
2296:
2289:
2282:
2279:
2274:
2267:
2260:
2257:
2252:
2245:
2238:
2235:
2230:
2223:
2216:
2213:
2208:
2201:
2194:
2191:
2186:
2179:
2172:
2169:
2164:
2157:
2150:
2147:
2142:
2135:
2128:
2125:
2120:
2116:
2112:
2108:
2103:
2098:
2093:
2088:
2084:
2080:
2079:
2071:
2064:
2061:
2056:
2049:
2042:
2039:
2034:
2027:
2020:
2017:
2012:
2008:
2001:
1998:
1993:
1986:
1979:
1976:
1971:
1964:
1957:
1954:
1949:
1942:
1935:
1932:
1924:
1920:
1913:
1906:
1903:
1898:
1894:
1890:
1886:
1882:
1878:
1877:
1869:
1862:
1859:
1853:
1848:
1844:
1837:
1833:
1826:
1823:
1818:
1812:
1808:
1804:
1800:
1799:Springer Cham
1796:
1795:
1787:
1784:
1779:
1772:
1765:
1762:
1750:
1746:
1740:
1737:
1724:
1721:Green, Adam.
1717:
1714:
1702:
1698:
1692:
1689:
1684:
1677:
1670:
1667:
1661:
1656:
1652:
1645:
1643:
1639:
1627:
1623:
1616:
1614:
1610:
1603:
1375:
1243::precondition
1069::precondition
958::precondition
816:
814:
806:
804:
798:
785:
777:
768:
764:
760:
756:
752:
748:
740:
736:
732:
728:
724:
717:
715:
713:
709:
705:
701:
697:
693:
689:
685:
681:
677:
670:
668:
666:
661:
657:
653:
649:
645:
638:
636:
634:
630:
626:
622:
618:
614:
610:
606:
603:robabilistic
602:
598:
591:
589:
587:
583:
582:
578:, the use of
577:
573:
569:
566:for actions,
565:
564:return-values
561:
557:
553:
549:
545:
541:
540:level 1 types
537:
536:level 0 types
533:
529:
528:
527:λ-expressions
523:
519:
515:
511:
507:
504:ntology with
503:
499:
492:
490:
488:
484:
479:
475:
471:
467:
463:
459:
455:
451:
447:
443:
436:
434:
431:
427:
423:
419:
418:propositional
415:
411:
407:
403:
399:
395:
391:
384:
382:
380:
376:
372:
368:
364:
360:
352:
347:
345:
343:
339:
335:
331:
323:
321:
319:
315:
311:
303:
301:
299:
295:
291:
287:
283:
275:
273:
271:
267:
263:
255:
253:
251:
247:
243:
242:
236:
228:
226:
224:
220:
216:
212:
208:
204:
199:
195:
191:
190:preconditions
187:
183:
179:
175:
171:
167:
163:
159:
155:
150:
146:
142:
138:
134:
129:
125:
121:
117:
113:
110:
106:
98:
93:
91:
89:
84:
82:
78:
74:
70:
66:
61:
59:
53:
51:
42:
40:
38:
34:
30:
26:
22:
2353:. Retrieved
2339:
2323:(8): 27–47.
2320:
2316:
2303:
2294:
2281:
2272:
2259:
2250:
2237:
2228:
2215:
2206:
2193:
2184:
2171:
2162:
2149:
2140:
2127:
2082:
2076:
2063:
2054:
2041:
2032:
2019:
2010:
2000:
1991:
1978:
1969:
1956:
1947:
1934:
1923:the original
1918:
1905:
1880:
1874:
1861:
1842:
1825:
1793:
1786:
1764:
1752:. Retrieved
1739:
1727:. Retrieved
1716:
1704:. Retrieved
1691:
1669:
1650:
1629:. Retrieved
1373:
810:
801::multi-agent
775:
766:
762:
758:
746:
743::multi-agent
734:
730:
726:
722:
721:
699:
691:
687:
683:
679:
675:
674:
664:
659:
655:
651:
647:
643:
642:
628:
625:goal rewards
624:
620:
616:
604:
600:
596:
595:
586:semantic web
579:
575:
571:
567:
563:
559:
555:
551:
547:
544:level 2 type
543:
539:
535:
525:
521:
517:
509:
505:
501:
497:
496:
486:
482:
473:
469:
465:
461:
457:
453:
449:
445:
441:
440:
425:
413:
408:anguage) is
405:
401:
397:
393:
389:
388:
378:
374:
370:
366:
362:
358:
356:
327:
317:
307:
293:
285:
279:
269:
265:
259:
249:
246:plan-metrics
245:
238:
232:
222:
218:
214:
210:
207:problem-name
206:
202:
197:
193:
189:
185:
181:
177:
173:
165:
162:requirements
161:
157:
153:
144:
140:
127:
123:
119:
118:the related
115:
111:
108:
102:
85:
62:
54:
46:
24:
20:
18:
2085:: 235–297.
1832:Howe, Adele
1225::parameters
1051::parameters
943::parameters
841::predicates
658:reparation
508:olymorphic
294:preferences
290:modal-logic
223:goal-states
211:domain-name
158:domain-name
2370:Categories
2355:2015-11-28
1883:: 61–124.
1754:5 February
1729:5 February
1706:5 February
1631:5 February
1604:References
682:elational
581:namespaces
518:ontologies
478:speech act
404:efinition
186:parameters
178:predicates
77:ontologies
2097:CiteSeerX
2092:1110.2200
1847:CiteSeerX
1655:CiteSeerX
548:processes
359:processes
1517:at-robby
1412::objects
1366:?gripper
1345:?gripper
1306:at-robby
1297:?gripper
1282:?gripper
1237:?gripper
1210:?gripper
1171:?gripper
1147:?gripper
1132:at-robby
1108:?gripper
1063:?gripper
1033:at-robby
1015:at-robby
994:at-robby
883:at-robby
797:PPDDL1.0
650:bstract
456:lanning
239:numeric
43:Overview
2119:5730335
1897:1397894
1505:gripper
1493:gripper
1400::domain
1388:problem
1315::effect
1279:gripper
1219::action
1153::effect
1105:gripper
1045::action
1003::effect
937::action
871:gripper
807:Example
784:PDDL3.1
780::typing
751:PDDL3.1
739:PDDL3.1
723:MA-PDDL
718:MA-PDDL
690:iagram
340:or the
330:PDDL3.1
304:PDDL3.1
276:PDDL3.0
256:PDDL2.2
241:fluents
229:PDDL2.1
215:objects
194:effects
182:actions
99:PDDL1.2
50:example
2117:
2099:
1895:
1849:
1813:
1749:GitHub
1701:GitHub
1657:
1382:define
829:domain
823:define
813:STRIPS
400:omain
363:events
332:. The
145:output
135:or in
2349:(PDF)
2313:(PDF)
2291:(PDF)
2269:(PDF)
2247:(PDF)
2225:(PDF)
2203:(PDF)
2181:(PDF)
2159:(PDF)
2137:(PDF)
2115:S2CID
2087:arXiv
2073:(PDF)
2051:(PDF)
2029:(PDF)
1988:(PDF)
1966:(PDF)
1944:(PDF)
1926:(PDF)
1915:(PDF)
1893:S2CID
1871:(PDF)
1839:(PDF)
1774:(PDF)
1679:(PDF)
1595:roomb
1592:ball1
1583::goal
1574:rooma
1571:ball2
1559:rooma
1556:ball1
1544:right
1520:rooma
1508:right
1484:ball2
1472:ball1
1460:roomb
1448:rooma
1439::init
1430:right
1424:ball2
1421:ball1
1418:roomb
1415:rooma
1369:)))))
1360:carry
1333:?room
1309:?room
1291:carry
1270:?room
1234:?room
1192:?room
1165:carry
1135:?room
1123:?room
1096:?room
1060:?room
1036:?from
997:?from
973:?from
949:?from
922:carry
733:gent
729:ulti
597:PPDDL
592:PPDDL
568:links
452:gent
448:ulti-
353:PDDL+
141:input
1811:ISBN
1756:2024
1731:2024
1708:2024
1633:2024
1541:free
1532:left
1529:free
1496:left
1481:ball
1469:ball
1457:room
1445:room
1427:left
1363:?obj
1342:free
1330:?obj
1294:?obj
1267:room
1258:?obj
1255:ball
1231:?obj
1222:drop
1213:))))
1207:free
1189:?obj
1168:?obj
1144:free
1120:?obj
1093:room
1084:?obj
1081:ball
1057:?obj
1048:pick
1039:))))
982:room
970:room
940:move
910:free
859:ball
847:room
791:and
771:lift
755:MAPL
735:PDDL
706:and
676:RDDL
671:RDDL
654:lan
644:APPL
639:APPL
611:and
605:PDDL
550:and
472:and
442:MAPL
437:MAPL
410:NASA
390:NDDL
385:NDDL
361:and
312:and
192:and
114:and
25:PDDL
19:The
2325:doi
2107:doi
1885:doi
1803:doi
1598:)))
1354:not
1321:and
1249:and
1201:not
1180:not
1159:and
1075:and
1027:not
1018:?to
1009:and
985:?to
964:and
952:?to
803:).
696:7th
613:5th
609:4th
588:).
498:OPT
493:OPT
430:SAT
396:ew
379:(3)
375:(2)
371:(1)
314:7th
310:6th
282:5th
262:4th
235:3rd
203:(2)
170:OOP
154:(1)
128:(2)
124:(1)
116:(2)
109:(1)
105:2nd
2372::
2321:10
2319:.
2315:.
2293:.
2271:.
2249:.
2227:.
2205:.
2183:.
2161:.
2139:.
2113:.
2105:.
2095:.
2083:27
2081:.
2075:.
2053:.
2031:.
2009:.
1990:.
1968:.
1946:.
1917:.
1891:.
1881:20
1879:.
1873:.
1841:.
1809:.
1801:.
1797:.
1776:.
1747:.
1699:.
1681:.
1653:.
1641:^
1624:.
1612:^
1589:at
1577:))
1568:at
1553:at
1327:at
1312:))
1195:))
1186:at
1150:))
1117:at
1000:))
931:))
928:?g
925:?o
913:?g
901:?r
898:?b
895:at
886:?r
874:?g
862:?b
850:?r
574:,
562:,
558:,
344:.
2358:.
2333:.
2327::
2275:.
2253:.
2209:.
2121:.
2109::
2089::
2057:.
2035:.
2013:.
1994:.
1899:.
1887::
1855:.
1819:.
1805::
1780:.
1758:.
1733:.
1710:.
1685:.
1663:.
1635:.
1586:(
1580:(
1565:(
1562:)
1550:(
1547:)
1538:(
1535:)
1526:(
1523:)
1514:(
1511:)
1502:(
1499:)
1490:(
1487:)
1478:(
1475:)
1466:(
1463:)
1454:(
1451:)
1442:(
1436:(
1433:)
1409:(
1406:)
1397:(
1394:)
1385:(
1379:(
1357:(
1351:(
1348:)
1339:(
1336:)
1324:(
1318:(
1303:(
1300:)
1288:(
1285:)
1276:(
1273:)
1264:(
1261:)
1252:(
1246:(
1240:)
1228:(
1216:(
1204:(
1198:(
1183:(
1177:(
1174:)
1162:(
1156:(
1141:(
1138:)
1129:(
1126:)
1114:(
1111:)
1102:(
1099:)
1090:(
1087:)
1078:(
1072:(
1066:)
1054:(
1042:(
1030:(
1024:(
1021:)
1012:(
1006:(
991:(
988:)
979:(
976:)
967:(
961:(
955:)
946:(
934:(
919:(
916:)
907:(
904:)
892:(
889:)
880:(
877:)
868:(
865:)
856:(
853:)
844:(
838:(
835:)
826:(
820:(
731:A
727:M
725:(
692:L
688:D
684:D
680:R
678:(
660:L
656:P
652:P
648:A
646:(
601:P
599:(
510:T
506:P
502:O
500:(
458:L
454:P
450:A
446:M
444:(
420:/
406:L
402:D
398:D
394:N
392:(
200:.
23:(
Text is available under the Creative Commons Attribution-ShareAlike License. Additional terms may apply.