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We present LPG, a fast planner using local search for solving planning graphs. LPG can use various heuristics based on a parametrized objective function. These parameters weight different types of inconsistencies in the partial plan represented by the current search state, and are dynamically evaluated during search using Lagrange multipliers. LPG's basic(More)
We present some techniques for planning in domains specified with the recent standard language pddl2.1, supporting " durative actions " and numerical quantities. These techniques are implemented in lpg, a domain-independent planner that took part in the 3rd International Planning Competition (IPC). lpg is an incremental, any time system producing(More)
The international planning competition (IPC) is an important driver for planning research. The general goals of the IPC include pushing the state of the art in planning technology by posing new scientific challenges, encouraging direct comparison of planning systems and techniques, developing and improving a common planning domain definition language, and(More)
Dealing with numerical information is practically important in many real-world planning domains where the executability of an action can depend on certain numerical conditions, and the action effects can consume or renew some critical continuous resources, which in PDDL can be represented by numerical fluents. When a planning problem involves numerical(More)
The treatment of exogenous events in planning is practically important in many real-world domains where the preconditions of certain plan actions are affected by such events. In this paper we focus on planning in temporal domains with exogenous events that happen at known times, imposing the constraint that certain actions in the plan must be executed(More)
Fast plan adaptation is important in many AI-applications. From a theoretical point of view, in the worst case adapting an existing plan to solve a new problem is no more efficient than a complete regener-ation of the plan. However, in practice plan adaptation can be much more efficient than plan generation, especially when the adapted plan can be obtained(More)
The ultimate objective in planning is to construct plans for execution. However, when a plan is executed in a real environment it can encounter differences between the expected and actual context of execution. These differences can manifest as divergences between the expected and observed states of the world, or as a change in the goals to be achieved by(More)
While several powerful domain-independent planners have recently been developed, no one of these clearly outperforms all the others in every known benchmark domain. We present PbP, a multi-planner which automatically configures a portfolio of planners by (i) computing some sets of macro-actions for every planner in the portfolio, (ii) selecting a promising(More)
In many planning situations, a planner is required to return a diverse set of plans satisfying the same goals which will be used by the external systems collectively. We take a domain-independent approach to solving this problem. We propose different domain independent distance functions among plans that can provide meaningful insights about the diversity(More)
We describe some simple domain-independent improvements to plan-reenement strategies for well-founded partial order planning that promise to bring this style of planning closer to practicality. One suggestion concerns the strategy for selecting plans for reenement among the current (incomplete) candidate plans. We propose an A* heuristic that counts only(More)