Relevant Papers

Relevant Papers

The planner has been developed taking ideas from different papers (heuristics, decoupled deltas for discretisation):

E. Scala, P. Haslum, S. Thiebaux: Heuristics for Numeric Planning via Subgoaling in IJCAI 2016.

E. Scala, P. Haslum, S. Thiebaux, M. Ramirez, Interval-Based Relaxation for General Numeric Planning in ECAI 2016.

E. Scala, P. Haslum, D. Magazzeni, S. Thiebaux: Landmarks for Numeric Planning Problems in IJCAI 2017.

M. Ramirez, E. Scala, P. Haslum, S. Thiebaux: Numerical Integration and Dynamic Discretization in Heuristic Search Planning over Hybrid Domains in arXiv.

D. Li, E. Scala, P. Haslum, S. Bogomolov Effect-Abstraction Based Relaxation for Linear Numeric Planning In IJCAI 2018

The planner builds on the PPMaJaL library, which can be found here. PPMaJaL provides parsing, data structures, heuristics and search engine for ENHSP.

Related Projects

ENHSP has been used as the skeleton of TPACK, a planner that supports temporal metric trajectory constraints: A. Micheli, E. Scala. Temporal Planning with Metric Trajectory Constraints in AAAI-19