---
title: "Heuristic Planning for PDDL+ Domains"
authors:
  - "Wiktor Mateusz Piotrowski"
  - "Maria Fox"
  - "Derek Long"
  - "Daniele Magazzeni"
  - "Fabio Mercorio"
doi: ""
url: "https://ijcai.org/proceedings/2016/455"
pdf: "https://ijcai.org/proceedings/2016/0455.pdf"
venue: "Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence"
year: 2016
pages: "3213-3218"
track: ""
keywords:
---

# Heuristic Planning for PDDL+ Domains

Wiktor Mateusz Piotrowski, Maria Fox, Derek Long, Daniele Magazzeni, Fabio Mercorio

*Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence*, pages 3213-3218.

## Abstract

Planning with hybrid domains modelled in PDDL+ has been gaining research interest in the Automated Planning community in recent years. Hybrid domain models capture a more accurate representation of real world problems that involve continuous processes than is possible using discrete systems. However, solving problems represented as PDDL+ domains is very challenging due to the construction of complex system dynamics, including non-linear processes and events. In this paper we introduce DiNo, a new planner capable of tackling complex problems with non-linear system dynamcs governing the continuous evolution of states. DiNo is based on the discretise-and-validate approach and uses the novel Staged Relaxed Planning Graph+ (SRPG+) heuristic, which is introduced in this paper. Although several planners have been developed to work with subsets of PDDL+ features, or restricted forms of processes, DiNo is currently the only heuristic planner capable of handling non-linear system dynamics combined with the full PDDL+ feature set.