The planning domain has experienced increased interest in the formal synthesis of decision-making policies. This typically entails finding a policy which satisfies specifications form some well-defined logic. While many such logics have been proposed with varying degrees expressiveness and complexity their capacity to capture desirable agent behavior, value is limited when deriving policies sat...

ions Richard Dearden, Chris Burbridge aSchool of Computer Science, University of Birmingham, Edgbaston, Birmingham, B15 2TT, U.K [email protected] [email protected]

We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alterna...

We propose a new declarative planning language, called K, which is based on principles and methods of logic programming. In this language, transitions between states of knowledge can be described, rather than transitions between completely described states of the world, which makes the language well-suited for planning under incomplete knowledge. Furthermore, it enables the use of default princ...

Foreword These notes are based on the AI planning lectures at the Albert-Ludwigs-Universität Freiburg. I would like to thank all the students who have participated in the planning course and given comments, pointed out errors, and suggested other improvements, including Slawomir Grzonka,

One of the most promising trends in Domain Independent AI Planning, nowadays, is state – space heuristic planning. The planners of this category construct general but efficient heuristic functions, which are used as a guide to traverse the state space either in a forward or a backward direction. Although specific problems may favor one or the other direction, there is no clear evidence why any ...

We present an extension of state-based planning from traditional Strips to function application, allowing to express operator effects as updates. As proposed in PDDL, fluent variables are introduced and, consequently, predicates are defined over general terms. Preconditions of operators are characterized as variable binding constraints with standard preconditions as a special case of equality c...

Finite State Controllers (FSCs) are an effective way to represent sequential plans compactly. By imposing appropriate conditions on transitions, FSCs can also represent generalized plans that solve a range of planning problems from a given domain. In this paper we introduce the concept of hierarchical FSCs for planning by allowing controllers to call other controllers. We show that hierarchical...