---
title: "Temporal Planning with Semantic Attachment of Non-Linear Monotonic Continuous Behaviours"
authors:
  - "Josef Bajada"
  - "Maria Fox"
  - "Derek Long"
doi: ""
url: "https://ijcai.org/proceedings/2015/218"
pdf: "https://ijcai.org/proceedings/2015/0218.pdf"
venue: "Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence"
year: 2015
pages: "1523-1528"
track: "Main Track"
keywords:
---

# Temporal Planning with Semantic Attachment of Non-Linear Monotonic Continuous Behaviours

Josef Bajada, Maria Fox, Derek Long

*Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence*, pages 1523-1528.

## Abstract

Non-linear continuous change is common in real-world problems, especially those that model physical systems. We present an algorithm which builds upon existent temporal planning techniques based on linear programming to approximate non-linear continuous monotonic functions. These are integrated through a semantic attachment mechanism, allowing external libraries or functions that are difficult to model in native PDDL to be evaluated during the planning process. A new planning system implementing this algorithm was developed and evaluated. Results show that the addition of this algorithm to the planning process can enable it to solve a broader set of planning problems.