A compilation of the full PDDL+ language into SMT

Michael Cashmore, Maria Fox, Derek Long, Daniele Magazzeni

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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Planning in hybrid systems is important for dealing with realworld applications. PDDL+ supports this representation of domains with mixed discrete and continuous dynamics, and supports events and processes modelling exogenous change. Motivated by numerous SAT-based planning approaches, we propose an approach to PDDL+ planning through SMT, describing an SMT encoding that captures all the features of the PDDL+ problem as published by Fox and Long (2006). The encoding can be applied on domains with nonlinear continuous change. We apply this encoding in a simple planning algorithm, demonstrating excellent results on a set of benchmark problems.
Original languageEnglish
Title of host publicationProceedings of the Twenty-Sixth International Conference on Automated Planning and Scheduling (ICAPS 2016)
Place of PublicationMenlo Park, US-CA.
Number of pages9
Publication statusPublished - 30 Mar 2016


  • PDDL+
  • planning
  • nonlinear continuous change
  • planning algorithms
  • AI
  • artifical intelligence


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