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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 asdoi:10.1007/978-3-642-25116-0_9 fatcat:zyhjevgfnjb33izp4q3evy5f3q