---
title: "Optimal Symbolic Planning with Action Costs and Preferences"
authors:
  - "Stefan Edelkamp"
  - "Peter Kissmann"
doi: ""
url: "https://ijcai.org/proceedings/2009/282"
pdf: "https://ijcai.org/proceedings/2009/0282.pdf"
venue: "Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence"
year: 2009
pages: "1690-1694"
track: ""
keywords:
---

# Optimal Symbolic Planning with Action Costs and Preferences

Stefan Edelkamp, Peter Kissmann

*Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence*, pages 1690-1694.

## Abstract

This paper studies the solving of finite-domain action planning problems with discrete action costs and soft constraints. For sequential optimal planning, a symbolic perimeter database heuristic is addressed in a bucket implementation of A*. For computing net-benefits, we propose symbolic branch-and-bound search together with some search refinements. The net-benefit we optimize is the total benefit of satisfying the goals, minus the total action cost to achieve them. This results in an objective function to be minimized that is a linear expression over the violation of the preferences added to the action cost total.Stefan Edelkamp, Peter Kissmann