Contents......Page 4
Preface......Page 7
What is AI Planning......Page 8
The Knight's Tour......Page 10
Plans as Explanations......Page 12
Planning in Robotics......Page 13
Narrative Planning......Page 14
Origins of PDDL & Scope of the Book......Page 15
Other Planning Languages......Page 16
Relation to Non-Planning Formalisms and Other Fields......Page 17
Planning Systems & Modelling Tools......Page 18
Discrete & Deterministic Planning......Page 20
PDDL: First Example......Page 21
Example: Modelling the Knight's Tour......Page 24
Example: Logistics......Page 31
Plans & Plan Validity......Page 41
Sequential Plans......Page 42
Non-Sequential Plans......Page 47
Notes on PDDL Syntax - STRIPS Fragment......Page 49
Sorting by Reversals......Page 51
Deadlock Detection......Page 55
Expressiveness and Complexity......Page 60
Bounds on Plan Length: Ground STRIPS......Page 61
Computational Complexity of Parameterised STRIPS Planning......Page 62
Practical Considerations......Page 65
Basic Elevator Model......Page 69
Conditional Effects......Page 72
Universally Quantified Effects......Page 74
Disjunctive and Existentially Quantified Preconditions......Page 75
Universally Quantified Preconditions and Goals......Page 76
Axioms......Page 77
Preferences & Plan Quality......Page 80
State Trajectory Constraints......Page 83
Expressiveness & Complexity......Page 85
Numeric Planning in PDDL......Page 89
Numeric Plan Validity......Page 97
More Modelling Examples......Page 100
Some Undecidable Cases......Page 104
Numeric Planning and Other Extensions......Page 106
Durative Actions......Page 108
Planning with Predictable Events......Page 117
Temporal Plan Validity......Page 119
Combining Numeric & Temporal Planning......Page 124
Continuous Processes......Page 128
Exogenous Events......Page 130
Example - The Generator......Page 132
Kinetic Battery Model......Page 134
PDDL+ Model for the Kinetic Battery......Page 136
Plan Validation in Hybrid Domains......Page 139
Modelling Assumption in PDDL+......Page 142
Other Planning PDDL-like Languages......Page 143
Future of PDDL......Page 148
Online PDDL Resources......Page 152
Biblio......Page 153
Index......Page 166