Introducing Dynamic Object Creation to PDDL Planning

Anonymous

Keywords: PDDL, Dynamic Object Creation

Abstract:

For automated planning robot behaviour in a rather unex-
plored world, often there are exogenous events introducing
new objects, triggered by the actions, that were unforeseen in
the initial state of the planning domain model. This suggests
extending PDDL, on every of its language levels, by a feature
for dynamic object creation. Syntactically, this is dealt with
by adding a keyword new to PDDL. Semantically, the core
challenge in dealing with dynamically created objects is that
they leads to a growing state representation during the plan
space exploration. As almost all existing automated planners
are not designed to deal with varying state vectors —mainly
due to relying on grounding of the lifted PDDL input in their
static analysis stage— in this short paper we present a first
solution to solve the dynamic object creation problem via a
translation of PDDL model into a term rewriting tool, where
plans can be found.

Track: discussion topic (5 minutes)