CASP solutions for planning in hybrid domains

Balduccini, Marcello; Magazzeni, Daniele; Maratea, Marco; LeBlanc, Emily

doi:10.1017/s1471068417000187

Cited by 7 publications

(7 citation statements)

References 39 publications

(49 reference statements)

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“…A range of techniques have been introduced to support the reasoning on PDDL+ instances by means of translation. Balduccini et al (2017) proposed an approach for translating a PDDL+ instance in a Constraint ASP instance (Baselice, Bonatti, and Gelfond 2005), but the process has to be done manually by an expert of the field. A number of approaches have been introduced to translate PDDL+ instances into satisfiability modulo theories (SMT) (Barrett and Tinelli 2018) problems (e.g., (Bryce et al 2015;Cashmore, Magazzeni, and Zehtabi 2020)) or a mix of linear programming and SAT instances (Shin and Davis 2005).…”

Section: Related Workmentioning

confidence: 99%

Translations from Discretised PDDL+ to Numeric Planning

Percassi

Scala

Vallati

2021

ICAPS

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Hybrid PDDL+ models are amongst the most advanced models of systems and the resulting problems are notoriously difficult for planning engines to cope with. An additional limiting factor for the exploitation of PDDL+ approaches in real-world applications is the restricted number of domain-independent planning engines that can reason upon those models. With the aim of deepening the understanding of PDDL+ models, in this work we study a novel mapping between a time discretisation of PDDL+ and numeric planning as for PDDL2.1 (level 2). The proposed mapping not only clarifies the relationship between these two formalisms, but also enables the use of a wider pool of engines, thus fostering the use of hybrid planning in real-world applications. Our experimental analysis shows the usefulness of the proposed translation, and demonstrates the potential of the approach for improving the solvability of complex PDDL+ instances.

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Section: Related Workmentioning

confidence: 99%

Translations from Discretised PDDL+ to Numeric Planning

Percassi

Scala

Vallati

2021

ICAPS

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“…Despite the importance and complexity of grounding for hybrid PDDL+ planning, there is a lack of studies focusing on investigating techniques and approaches for optimising this process. Most of the research on hybrid PDDL+ planning focuses on the design of complete domain-independent planning engines, such as DiNo [2], SMTPlan [3], and CASP [4]; and emphasis has been given to the search module of such engines. Relevant work in the area of efficiently PDDL+ grounding focused on reformulating the input models in order make them more amenable to planning engines [5], on modifying the internal behaviour of planning engines to adapt them to the specific application domain [6], [7] , rather than on designing principled grounding modules for domainindependent planning engines.…”

Section: Introductionmentioning

confidence: 99%

Exploiting Classical Planning Grounding in Hybrid PDDL+ Planning Engines

Scala

Vallati

2020

2020 IEEE 32nd International Conference on Tools With Artificial Intelligence (ICTAI)

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Hybrid PDDL+ models are amongst the most advanced models of systems and the resulting problems are notoriously difficult for planners to cope with due to nonlinear behaviours and immense search spaces. This difficulty is exacerbated by the potentially huge size of the fully ground representations that are used by modern planners in order to effectively explore the search space, which can make some problems impossible to tackle, with the result that in several situations the grounding phase has to be done externally or manually. This not only produces a much less compact problem description, but also complicates debugging and model reuse.To overcome the aforementioned limit, in this paper we investigate two simple grounding techniques for PDDL+ problems.The former method we propose extends the simple mechanism of invariance analysis to limit the groundings of operators upfront. The latter proposes to tackle the grounding process by means of a PDDL+ to Classical Planning abstraction. A preliminary experimental analysis over benchmarks coming from real case study shows that not only the grounding can be sped up, but that also problems that were out of the reach before can now be efficiently solved in an automated manner.

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“…We also believe they provide a good ground for testing and exploiting knowledge engineering techniques for evaluating the quality of different planning encodings [19]. As future work, we would like to test our approach on different robots models, and to evaluate more PDDL+ planners, namely SMTPlan+ [8], DReal [4] and EZCSP [2]. Both SMT-Plan+ and Dreal rely on an SMT module for solving problems described using PDDL+, while EZCSP exploits Constraint Answer Set Programming (CASP) [20] encodings and solvers.…”

Section: Related Work Conclusion and Future Workmentioning

confidence: 99%

Automated Planning Encodings for the Manipulation of Articulated Objects in 3D with Gravity

Bertolucci

Capitanelli

Maratea

et al. 2019

Lecture Notes in Computer Science

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The manipulation of articulated objects plays an important role in real-world robot tasks, both in home and industrial environments. A lot of attention has been devoted to the development of ad hoc approaches and algorithms for generating the sequence of movements the robot has to perform in order to manipulate the object. Such approaches can hardly generalise on different settings, and are usually focused on 2D manipulations. In this paper we introduce a set of PDDL+ formulations for performing automated manipulation of articulated objects in a three-dimensional workspace by a dual-arm robot. Presented formulations differ in terms of how gravity is modelled, considering different trade-offs between modelling accuracy and planning performance, and between human-readability and parsability by planners. Our experimental analysis compares the formulations on a range of domain-independent planners, that aim at generating plans for allowing a dual-arm robot to manipulate articulated objects of different sizes. Validation is performed in simulation on a Baxter robot.

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CASP solutions for planning in hybrid domains

Cited by 7 publications

References 39 publications

Translations from Discretised PDDL+ to Numeric Planning

Translations from Discretised PDDL+ to Numeric Planning

Exploiting Classical Planning Grounding in Hybrid PDDL+ Planning Engines

Automated Planning Encodings for the Manipulation of Articulated Objects in 3D with Gravity

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