{"type":"ScholarlyArticle","title":"Relaxed Exists-Step Plans in Planning as SMT","authors":[{"name":"Miquel Bofill","slug":"miquel-bofill","given":"Miquel","family":"Bofill","affiliation":"University of Girona , Spain."},{"name":"Joan Espasa","slug":"joan-espasa","given":"Joan","family":"Espasa","affiliation":"University of Girona , Spain."},{"name":"Mateu Villaret","slug":"mateu-villaret","given":"Mateu","family":"Villaret","affiliation":"University of Girona , Spain."}],"abstract":"Planning Modulo Theories (PMT), inspired by Satisfiability Modulo Theories (SMT), allows the integration of arbitrary first order theories, such as linear arithmetic, with propositional planning. Under this setting, planning as SAT is generalized to planning as SMT. In this paper we introduce a new encoding for planning as SMT, which adheres to the relaxed relaxed ∃-step (R 2 ∃-step) semantics for parallel plans. We show the benefits of relaxing the requirements on the set of actions eligible to be executed at the same time, even though many redundant actions can be introduced. We also show how, by a MaxSMT based post-processing step, redundant actions can be efficiently removed, and provide experimental results showing the benefits of this approach.","doi":"10.24963/ijcai.2017/79","url":"https://ijcai.org/proceedings/2017/79","pdf":"https://ijcai.org/proceedings/2017/0079.pdf","markdown":"https://ijcai.org/proceedings/2017/79.md","bibtex":"https://ijcai.org/proceedings/2017/bibtex/79","volume":{"slug":"2017","title":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2017","url":"https://ijcai.org/proceedings/2017/","year":2017,"location":"Melbourne, Australia","dates":"19-25 August 2017","editors":"Carles Sierra","isbn":"978-0-9992411-0-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2017"},"section":"Constraints and Satisfiability","track":"Main track","number":79,"pages":{"first":563,"last":570},"keywords":["Planning and Scheduling: Temporal and Hybrid planning","Constraints and Satisfiability: Satisfiability","Planning and Scheduling: Other approaches to planning","Constraints and Satisfiability: Modeling/Formulation"],"videos":[],"references":[{"position":1,"raw":"[Balyo and Barták, 2015] Tomas Balyo and Roman Barták. 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