Semantic Attachments for Domain-Independent Planning Systems [chapter]

Christian Dornhege, Patrick Eyerich, Thomas Keller, Sebastian Trüg, Michael Brenner, Bernhard Nebel
2012 Springer Tracts in Advanced Robotics  
Solving real-world problems using symbolic planning often requires a simplified formulation of the original problem, since certain subproblems cannot be represented at all or only in a way leading to inefficiency. For example, manipulation planning may appear as a subproblem in a robotic planning context or a packing problem can be part of a logistics task. In this paper we propose an extension of PDDL for specifying semantic attachments. This allows the evaluation of grounded predicates as
more » ... as the change of fluents by externally specified functions. Furthermore, we describe a general schema of integrating semantic attachments into a forward-chaining planner and report on our experience of adding this extension to the planners FF and Temporal Fast Downward. Finally, we present some preliminary experiments using semantic attachments.
doi:10.1007/978-3-642-25116-0_9 fatcat:zyhjevgfnjb33izp4q3evy5f3q