Axioms in Model-based Planners

Axioms can be used to model derived predicates in domainindependent planning models. Formulating models which use axioms can sometimes result in problems with much smaller search spaces and shorter plans than the original model. Previous work on axiom-aware planners focused solely on statespace search planners. We propose axiom-aware planners based on answer set programming and integer proramming. We evaluate them on PDDL domains with axioms and show that they can exploit additional expressivity of axioms.