Generalized Planning With Procedural Domain Control Knowledge [article]

Javier Segovia-Aguas, Sergio Jiménez, Anders Jonsson
2019 arXiv   pre-print
Generalized planning is the task of generating a single solution that is valid for a set of planning problems. In this paper we show how to represent and compute generalized plans using procedural Domain Control Knowledge (DCK). We define a divide and conquer approach that first generates the procedural DCK solving a set of planning problems representative of certain subtasks and then compile it as callable procedures of the overall generalized planning problem. Our procedure calling mechanism
more » ... llows nested and recursive procedure calls and is implemented in PDDL so that classical planners can compute and exploit procedural DCK. Experiments show that an off-the-shelf classical planner, using procedural DCK as callable procedures, can compute generalized plans in a wide range of domains including non-trivial ones, such as sorting variable-size lists or DFS traversal of binary trees with variable size.
arXiv:1910.04999v1 fatcat:rcct2w3435gr3g6uoovczwdx2u