UPMurphi: A Tool for Universal Planning on PDDL+ Problems

Systems subject to (continuous) physical effects and controlled by (discrete) digital equipments, are today very common. Thus, many realistic domains where planning is required are represented by hybrid systems, i.e., systems containing both discrete and continuous values, with possibly a nonlinear continuous dynamics. The PDDL+ language allows one to model these domains, however the current tools can generally handle only planning problems on (possibly hybrid) systems with linear dynamics. Therefore, universal planning applied to hybrid systems and, in general, to nonlinear systems is completely out of scope for such tools. In this paper, we propose the use of explicit model checkingbased techniques to solve universal planning problems on such hardly-approachable domains.