Temporal Numeric Planning with Patterns

TL;DR

This paper extends planning with patterns to temporal numeric planning in PDDL2.1 level 3, using SMT formulas to generate valid plans and demonstrating strong performance on domains requiring concurrency.

Contribution

It introduces a novel approach that extends planning with patterns to temporal numeric planning, with proven correctness and completeness.

Findings

Effective on 10 domains with concurrency requirements

Models correspond to valid plans in temporal numeric planning

Approach extends previous planning with patterns method

Abstract

We consider temporal numeric planning problems $\Pi$ expressed in PDDL2.1 level 3, and show how to produce SMT formulas $(i)$ whose models correspond to valid plans of $\Pi$, and $(ii)$ that extend the recently proposed planning with patterns approach from the numeric to the temporal case. We prove the correctness and completeness of the approach and show that it performs very well on 10 domains with required concurrency.