An Introduction to the Planning Domain Definition Language 1st Edition by Patrik Haslum, Nir Lipovetzky, Daniele Magazzeni, Christian Muise 1681735121 978-1681735122

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ISBN 10: 1681735121

ISBN 13: 978-1681735122

Author: Patrik Haslum, Nir Lipovetzky, Daniele Magazzeni, Christian Muise

Planning is the branch of Artificial Intelligence (AI) that seeks to automate reasoning about plans, most importantly the reasoning that goes into formulating a plan to achieve a given goal in a given situation. AI planning is model-based: a planning system takes as input a description (or model) of the initial situation, the actions available to change it, and the goal condition to output a plan composed of those actions that will accomplish the goal when executed from the initial situation.

The Planning Domain Definition Language (PDDL) is a formal knowledge representation language designed to express planning models. Developed by the planning research community as a means of facilitating systems comparison, it has become a de-facto standard input language of many planning systems, although it is not the only modelling language for planning. Several variants of PDDL have emerged that capture planning problems of different natures and complexities, with a focus on deterministic problems.

The purpose of this book is two-fold. First, we present a unified and current account of PDDL, covering the subsets of PDDL that express discrete, numeric, temporal, and hybrid planning. Second, we want to introduce readers to the art of modelling planning problems in this language, through educational examples that demonstrate how PDDL is used to model realistic planning problems. The book is intended for advanced students and researchers in AI who want to dive into the mechanics of AI planning, as well as those who want to be able to use AI planning systems without an in-depth explanation of the algorithms and implementation techniques they use.

An Introduction to the Planning Domain Definition Language 1st Table of contents:

Praise for An Introduction to the Planning Domain Definition Language

Preface

Introduction

What is AI Planning?

Planning Models

Examples

The Knight’s Tour

Logistics

Plans as Explanations

Plan-Based Control

Planning in Robotics

Narrative Planning

The Origins of PDDL and the Scope of This Book

Other Planning Languages

Relation to Non-Planning Formalisms and Other Fields

Planning Systems and Modelling Tools

Discrete and Deterministic Planning

Domain and Problem Definition

PDDL: First Example

Example: Modelling the Knight’s Tour

Example: Logistics

Plans and Plan Validity

Sequential Plans

Non-Sequential Plans

Notes on PDDL’s Syntax: The STRIPS Fragment

Advanced Modelling Examples

Sorting by Reversals

Deadlock Detection

Expressiveness and Complexity

Plan Validation

Bounds on Plan Length: Ground STRIPS

Computational Complexity of Ground STRIPS Planning

Computational Complexity of Parameterised STRIPS Planning

Reversal and Complement

Practical Considerations

More Expressive Classical Planning

Conditional and Quantified Conditions and Effects

Basic Elevator Model

Conditional Effects

Universally Quantified Effects

Disjunctive and Existentially Quantified Preconditions

Universally Quantified Preconditions and Goals

Axioms

Preferences and Plan Quality

State Trajectory Constraints

Expressiveness and Complexity

Numeric Planning

Numeric Planning in PDDL

Numeric Plan Validity

More Modelling Examples

Complexity of Numeric Planning

Some Undecidable Cases

Some Decidable Cases

Numeric Planning and Other Extensions

Temporal Planning

Durative Actions

Planning with Predictable Events

Temporal Plan Validity

Combining Numeric and Temporal Planning

Planning with Hybrid Systems

Continuous Processes

Exogenous Events

Example: The Generator

Example: Multiple-Battery Management

Kinetic Battery Model

PDDL+ Model for the Kinetic Battery

Plan Validation in Hybrid Domains

Modelling Assumption in PDDL+

Conclusion

Other Planning PDDL-Like Languages

The Future of PDDL

Online PDDL Resources

Bibliography

Authors’ Biographies

Blank Page

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