{"type":"ScholarlyArticle","title":"AI Planning for Hybrid Systems","authors":[{"name":"Enrico Scala","slug":"enrico-scala","given":"Enrico","family":"Scala","affiliation":"University of Brescia"}],"abstract":"When planning the tasks of some physical entities that need to perform actions in the world (e.g., a Robot) it is necessary to take into account quite complex models for ensuring that the  plan is actually executable. Indeed the state of these systems evolves according to potentially non-linear dynamics where interdependent discrete and continuous changes happen over the entire course of the task. Systems of this kind are typically compactly represented in planning using languages mixing propositional logic and mathematics. However, these languages are still poorly understood and exploited. What are the difficulties for planning in these settings? How can we build systems that can scale up over realistically sized problems? What are the domains which can benefit from these languages? This short paper shows the main two ingredients that are needed to build a heuristic search planner, outline the main impact that such techniques have on application, and provide some open challenges. These models and relative planners hold the promise to deliver explainable AI solutions that do not rely on large amounts of data.","doi":"10.24963/ijcai.2023/805","url":"https://ijcai.org/proceedings/2023/805","pdf":"https://ijcai.org/proceedings/2023/0805.pdf","markdown":"https://ijcai.org/proceedings/2023/805.md","bibtex":"https://ijcai.org/proceedings/2023/bibtex/805","volume":{"slug":"2023","title":"Proceedings of the Thirty-Second International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2023","url":"https://ijcai.org/proceedings/2023/","year":2023,"location":"Macao, SAR","dates":"19-25 August 2023","editors":"Edith Elkind","isbn":"978-1-956792-03-4","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2023"},"section":"Early Career","track":"Early Career","number":805,"pages":{"first":7045,"last":7050},"keywords":["EC: Automated Planning"],"videos":[],"references":[{"position":1,"raw":"[Aineto et al., 2023] Diego Aineto, Enrico Scala, Eva On- aindia, and Ivan Serina. Falsification of cyber-physical systems using pddl+ planning. In ICAPS, page to appear. AAAI Press, 2023.","title":"Falsification of cyber-physical systems using pddl+ planning","authors":"Aineto","year":"2023","venue":"ICAPS, page to appear","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Aldinger and Nebel, 2017] Johannes Aldinger and Bern- hard Nebel. Interval based relaxation heuristics for nu- meric planning with action costs. In KI, volume 10505 of Lecture Notes in Computer Science, pages 15-28. Springer, 2017.","title":"Interval based relaxation heuristics for numeric planning with action costs","authors":"Nebel Aldinger, Johannes Aldinger, Bernhard Nebel","year":"2017","venue":"Lecture Notes in Computer Science","doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Bacchus and Kabanza, 1998] Fahiem Bacchus and Frodu- ald Kabanza. Planning for temporally extended goals. An- nals of Mathematics and Artificial Intelligence, 22(1-2):5- 27, 1998.","title":"Fahiem Bacchus and Froduald Kabanza. Planning for temporally extended goals","authors":"Kabanza Bacchus","year":"1998","venue":"Annals of Mathematics and Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Baier and McIlraith, 2006] Jorge A Baier and Sheila A McIlraith. Planning with first-order temporally extended goals using heuristic search. In National Conference on Artificial Intelligence, (AAAI-06), 2006.","title":"Planning with first-order temporally extended goals using heuristic search","authors":"Jorge A Baier, Sheila A Mcilraith","year":"2006","venue":"National Conference on Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Bonassi et al., 2021] Luigi Bonassi, Alfonso Emilio Gerevini, Francesco Percassi, and Enrico Scala. On planning with qualitative state-trajectory constraints in PDDL3 by compiling them away. In ICAPS, pages 46-50. AAAI Press, 2021.","title":"On planning with qualitative state-trajectory constraints in PDDL3 by compiling them away","authors":"Luigi Bonassi, Alfonso Emilio Gerevini, Francesco Percassi, Enrico Scala","year":"2021","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[Bonassi et al., 2022] Luigi Bonassi, Alfonso Emilio Gerevini, and Enrico Scala. Planning with qualitative action-trajectory constraints in PDDL. In IJCAI, pages 4606-4613. ijcai.org, 2022.","title":"Planning with qualitative action-trajectory constraints in PDDL","authors":"Bonassi","year":"2022","venue":"IJCAI","doi":null,"url":null,"internal_url":"/proceedings/2022/639"},{"position":7,"raw":"[Bonassi et al., 2023] Luigi Bonassi, Giuseppe De Giacomo, Marco Favorito, Francesco Fuggitti, Alfonso Emilio Gerevini, and Enrico Scala. Planning for temporally ex- tended goals in pure-past linear temporal logic. In ICAPS, page to appear. AAAI Press, 2023.","title":"Planning for temporally extended goals in pure-past linear temporal logic","authors":"Luigi Bonassi, Giuseppe De Giacomo, Marco Favorito, Francesco Fuggitti, Alfonso Emilio Gerevini, Enrico Scala","year":"2023","venue":"ICAPS, page to appear","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Cardellini et al., 2021] Matteo Cardellini, Marco Maratea, Mauro Vallati, Gianluca Boleto, and Luca Oneto. In- station train dispatching: A PDDL+ planning approach. In ICAPS, pages 450-458. AAAI Press, 2021.","title":"Instation train dispatching: A PDDL+ planning approach","authors":"Matteo Cardellini, Marco Maratea, Mauro Vallati, Gianluca Boleto, Luca Oneto","year":"2021","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"[Cashmore et al., 2020] Michael Cashmore, Daniele Maga- zzeni, and Parisa Zehtabi. Planning for hybrid systems via satisfiability modulo theories. Journal of Artificial Intelli- gence Research, 67:235-283, 2020.","title":"Planning for hybrid systems via satisfiability modulo theories","authors":"Michael Cashmore, Daniele Magazzeni, Parisa Zehtabi","year":"2020","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":10,"raw":"[Corso et al., 2021] Anthony Corso, Robert J. Moss, Mark Koren, Ritchie Lee, and Mykel J. Kochenderfer. A sur- vey of algorithms for black-box safety validation of cyber- physical systems. J. Artif. Intell. Res., 72:377-428, 2021.","title":"A survey of algorithms for black-box safety validation of cyberphysical systems","authors":"Anthony Corso, Robert J Moss, Mark Koren, Ritchie Lee, Mykel J Kochenderfer","year":"2021","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":11,"raw":"[De Giacomo et al., 2014] Giuseppe De Giacomo, Riccardo De Masellis, and Marco Montali. Reasoning on ltl on finite traces: Insensitivity to infiniteness. In AAAI, pages 1027- 1033, 2014.","title":"Reasoning on ltl on finite traces: Insensitivity to infiniteness","authors":"Giacomo De","year":"2014","venue":null,"doi":null,"url":null,"internal_url":null},{"position":12,"raw":"[Dechter and Pearl, 1985] Rina Dechter and Judea Pearl. Generalized best-first search strategies and the optimality of a*. J. ACM, 32(3):505-536, 1985.","title":"Generalized best-first search strategies and the optimality of a","authors":"Rina Dechter, Judea Pearl","year":"1985","venue":"J. ACM","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Doyen et al., 2018] Laurent Doyen, Goran Frehse, George J. Pappas, and André Platzer. Verification of Hybrid Systems. In Handbook of Model Checking, pages 1047-1110. Springer, 2018.","title":"Verification of Hybrid Systems","authors":"Laurent Doyen, Goran Frehse, George J Pappas, André Platzer","year":"2018","venue":"Handbook of Model Checking","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"[Felner, 2011] Ariel Felner. Position paper: Dijkstra's algo- rithm versus uniform cost search or a case against dijk- stra's algorithm. In SOCS. AAAI Press, 2011.","title":"Position paper: Dijkstra's algorithm versus uniform cost search or a case against dijkstra's algorithm","authors":"Ariel Felner, Felner","year":"2011","venue":"SOCS","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"[Ferber et al., 2020] Patrick Ferber, Malte Helmert, and Jörg Hoffmann. Neural network heuristics for classical plan- ning: A study of hyperparameter space. In ECAI, volume 325 of Frontiers in Artificial Intelligence and Applications, pages 2346-2353. IOS Press, 2020.","title":"Neural network heuristics for classical planning: A study of hyperparameter space","authors":"Patrick Ferber, Malte Helmert, Jörg Hoffmann","year":"2020","venue":"Frontiers in Artificial Intelligence and Applications","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"[Fikes and Nilsson, 1971] Richard E Fikes and Nils J Nils- son. Strips: A new approach to the application of theorem proving to problem solving. Artificial Intelligence, 2(3- 4):189-208, 1971.","title":"Strips: A new approach to the application of theorem proving to problem solving","authors":"E Richard, Nils J Fikes, Nilsson","year":"1971","venue":"Artificial Intelligence","doi":null,"url":null,"internal_url":"/proceedings/1971/63"},{"position":17,"raw":"[Fox and Long, 2003] Maria Fox and Derek Long. PDDL2.1: An extension to PDDL for expressing temporal planning domains. Journal of Artificial Intelligence Research, 20:61-124, 2003.","title":"PDDL2.1: An extension to PDDL for expressing temporal planning domains","authors":"Maria Fox, Derek Long","year":"2003","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":18,"raw":"[Fox and Long, 2006] Maria Fox and Derek Long. Mod- elling mixed discrete-continuous domains for planning. Journal of Artificial Intelligence Research (JAIR), 27:235- 297, 2006.","title":"Modelling mixed discrete-continuous domains for planning","authors":"Maria Fox, Derek Long","year":"2006","venue":"Journal of Artificial Intelligence Research (JAIR)","doi":null,"url":null,"internal_url":null},{"position":19,"raw":"[Fox et al., 2012] Maria Fox, Derek Long, and Daniele Mag- azzeni. Plan-based policies for efficient multiple battery load management. J. Artif. Intell. Res., 44:335-382, 2012.","title":"Plan-based policies for efficient multiple battery load management","authors":"Maria Fox, Derek Long, Daniele Magazzeni","year":"2012","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":20,"raw":"[Ghallab et al., 2004] Malik Ghallab, Dana Nau, and Paolo Traverso. Automated Planning: theory and practice. El- sevier, 2004.","title":"Automated Planning: theory and practice","authors":"Malik Ghallab, Dana Nau, Paolo Traverso","year":"2004","venue":null,"doi":null,"url":null,"internal_url":null},{"position":21,"raw":"[Gigante and Scala, 2023] Nicola Gigante and Enrico Scala. On the compilability of bounded numeric planning. In IJ- CAI, page to appear. ijcai.org, 2023.","title":"On the compilability of bounded numeric planning","authors":"Nicola Gigante, Enrico Scala","year":"2023","venue":"IJ-CAI","doi":null,"url":null,"internal_url":"/proceedings/2023/593"},{"position":22,"raw":"[Gigante et al., 2022] Nicola Gigante, Andrea Micheli, An- gelo Montanari, and Enrico Scala. Decidability and com- plexity of action-based temporal planning over dense time. Artif. Intell., 307:103686, 2022.","title":"Decidability and complexity of action-based temporal planning over dense time","authors":"Nicola Gigante, Andrea Micheli, Angelo Montanari, Enrico Scala","year":"2022","venue":"Artif. Intell","doi":null,"url":null,"internal_url":null},{"position":23,"raw":"[Gnad et al., 2023] Daniel Gnad, Malte Helmert, Peter Jon- sson, and Alexander Shleyfman. Planning over integers: Compilations and undecidability. In ICAPS, page to ap- pear. AAAI Press, 2023.","title":"Planning over integers: Compilations and undecidability","authors":"Daniel Gnad, Malte Helmert, Peter Jonsson, Alexander Shleyfman","year":"2023","venue":"ICAPS, page to appear","doi":null,"url":null,"internal_url":null},{"position":24,"raw":"[Goebel et al., 2018] Randy Goebel, Ajay Chander, Katha- rina Holzinger, Freddy Lécué, Zeynep Akata, Simone Stumpf, Peter Kieseberg, and Andreas Holzinger. Explain- able AI: the new 42? In CD-MAKE, Lecture Notes in Computer Science, pages 295-303. Springer, 2018.","title":"Explainable AI: the new 42? In CD-MAKE","authors":"Randy Goebel, Ajay Chander, Katharina Holzinger, Freddy Lécué, Zeynep Akata, Simone Stumpf, Peter Kieseberg, Andreas Holzinger","year":"2018","venue":"Lecture Notes in Computer Science","doi":null,"url":null,"internal_url":null},{"position":25,"raw":"[Haslum and Geffner, 2000] Patrik Haslum and Hector Geffner. Admissible heuristics for optimal planning. In AIPS, pages 140-149. AAAI, 2000.","title":"Admissible heuristics for optimal planning","authors":"Geffner Haslum, Patrik Haslum, Hector Geffner","year":"2000","venue":"AIPS","doi":null,"url":null,"internal_url":null},{"position":26,"raw":"[Haslum et al., 2019] Patrik Haslum, Nir Lipovetzky, Daniele Magazzeni, and Christian Muise. An Introduction to the Planning Domain Definition Language. Synthesis Lectures on Artificial Intelligence and Machine Learning.","title":"An Introduction to the Planning Domain Definition Language","authors":"Haslum","year":"2019","venue":"Synthesis Lectures on Artificial Intelligence and Machine Learning","doi":null,"url":null,"internal_url":null},{"position":27,"raw":"[Helmert, 2002] Malte Helmert. Decidability and undecid- ability results for planning with numerical state variables. In Proc,. of International Conference on Artificial Intelli- gence Planning and Scheduling (AIPS 2002), pages 44- 53, 2002.","title":"Decidability and undecidability results for planning with numerical state variables","authors":"Malte Helmert, Helmert","year":"2002","venue":"Proc,. of International Conference on Artificial Intelligence Planning and Scheduling (AIPS 2002)","doi":null,"url":null,"internal_url":null},{"position":28,"raw":"[Helmert, 2006] Malte Helmert. The fast downward plan- ning system. Journal of Artificial Intelligence Research, 26:191-246, 2006.","title":"The fast downward planning system","authors":"Malte Helmert","year":"2006","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":29,"raw":"[Henzinger, 2000] Thomas A. Henzinger. The Theory of Hy- brid Automata. In Verification of Digital and Hybrid Sys- tems, pages 265-292. Springer Berlin Heidelberg, 2000.","title":"The Theory of Hybrid Automata","authors":"Thomas A Henzinger","year":"2000","venue":"Verification of Digital and Hybrid Systems","doi":null,"url":null,"internal_url":null},{"position":30,"raw":"[Hoffmann and Nebel, 2001] Jörg Hoffmann and Bernhard Nebel. The FF planning system: Fast plan generation through heuristic search. J. Artif. Intell. Res., 14:253-302, 2001.","title":"The FF planning system: Fast plan generation through heuristic search","authors":"Nebel Hoffmann, Jörg Hoffmann, Bernhard Nebel","year":"2001","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":31,"raw":"[Hoffmann, 2003] Jörg Hoffmann. The metric-ff planning system: Translating \"ignoring delete lists\" to numeric state variables. J. Artif. Intell. Res., 20:291-341, 2003.","title":"The metric-ff planning system: Translating \"ignoring delete lists\" to numeric state variables","authors":"Jörg Hoffmann","year":"2003","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":32,"raw":"[Kiam et al., 2020] Jane Jean Kiam, Enrico Scala, Miquel Ramírez Javega, and Axel Schulte. An ai- based planning framework for HAPS in a time-varying environment. In ICAPS, pages 412-420. AAAI Press, 2020.","title":"An aibased planning framework for HAPS in a time-varying environment","authors":"Jane Jean Kiam, Enrico Scala, Miquel Ramírez Javega, Axel Schulte","year":"2020","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":33,"raw":"[Kuroiwa et al., 2021] Ryo Kuroiwa, Alexander Shleyfman, Chiara Piacentini, Margarita P Castro, and J Christopher Beck. Lm-cut and operator counting heuristics for opti- mal numeric planning with simple conditions. In ICAPS, volume 31, pages 210-218, 2021.","title":"Lm-cut and operator counting heuristics for optimal numeric planning with simple conditions","authors":"Kuroiwa","year":"2021","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":34,"raw":"[Kuroiwa et al., 2022a] Ryo Kuroiwa, Alexander Shleyf- man, and J. Christopher Beck. Lm-cut heuristics for op- timal linear numeric planning. In ICAPS, pages 203-212. AAAI Press, 2022.","title":"Lm-cut heuristics for optimal linear numeric planning","authors":"Kuroiwa","year":"2022","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":35,"raw":"[Kuroiwa et al., 2022b] Ryo Kuroiwa, Alexander Shleyf- man, Chiara Piacentini, Margarita P. Castro, and J. Christopher Beck. The lm-cut heuristic family for op- timal numeric planning with simple conditions. J. Artif. Intell. Res., 75:1477-1548, 2022.","title":"The lm-cut heuristic family for optimal numeric planning with simple conditions","authors":"Kuroiwa","year":"2022","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":36,"raw":"[Li et al., 2018] Dongxu Li, Enrico Scala, Patrik Haslum, and Sergiy Bogomolov. Effect-abstraction based relax- ation for linear numeric planning. In IJCAI, pages 4787- 4793. ijcai.org, 2018.","title":"Effect-abstraction based relaxation for linear numeric planning","authors":"Li","year":"2018","venue":"IJCAI","doi":null,"url":null,"internal_url":"/proceedings/2018/665"},{"position":37,"raw":"[McDermott, 2003] Drew V. McDermott. Reasoning about autonomous processes in an estimated-regression planner. In ICAPS, pages 143-152, 2003.","title":"Reasoning about autonomous processes in an estimated-regression planner","authors":"V Drew, Mcdermott","year":"2003","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":38,"raw":"[Moore et al., 2009] Ramon E. Moore, R. Baker Kearfott, and Michael J. Cloud. Introduction to Interval Analysis. SIAM, 2009.","title":"Cloud. Introduction to Interval Analysis","authors":"Ramon E Moore, R Baker, Michael J Kearfott","year":"2009","venue":null,"doi":null,"url":null,"internal_url":null},{"position":39,"raw":"[Penna et al., 2009] Giuseppe Della Penna, Daniele Maga- zzeni, Fabio Mercorio, and Benedetto Intrigila. UPMur- phi: A Tool for Universal Planning on PDDL+ Problems. In ICAPS, 2009.","title":"Fabio Mercorio, and Benedetto Intrigila. UPMurphi: A Tool for Universal Planning on PDDL+ Problems","authors":"Penna","year":"2009","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":40,"raw":"[Percassi et al., 2023] Francesco Percassi, Enrico Scala, and Mauro Vallati. A practical approach to discretised PDDL+ problems by translation to numeric planning. J. Artif. In- tell. Res., 76:115-162, 2023.","title":"A practical approach to discretised PDDL+ problems by translation to numeric planning","authors":"Francesco Percassi, Enrico Scala, Mauro Vallati","year":"2023","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":41,"raw":"[Piacentini et al., 2018a] Chiara Piacentini, Margarita P. Castro, André Augusto Ciré, and J. Christopher Beck. Compiling optimal numeric planning to mixed integer lin- ear programming. In ICAPS, pages 383-387. AAAI Press, 2018.","title":"Compiling optimal numeric planning to mixed integer linear programming","authors":"Piacentini","year":"2018","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":42,"raw":"[Piacentini et al., 2018b] Chiara Piacentini, Margarita P. Castro, André Augusto Ciré, and J. Christopher Beck. Linear and integer programming-based heuristics for cost- optimal numeric planning. In AAAI, pages 6254-6261. AAAI Press, 2018.","title":"Linear and integer programming-based heuristics for costoptimal numeric planning","authors":"Piacentini","year":"2018","venue":"AAAI","doi":null,"url":null,"internal_url":null},{"position":43,"raw":"[Piotrowski et al., 2023] Wiktor Piotrowski, Yoni Sher, Sachin Grover, Roni Stern, and Shiwali Mohan. Heuristic search for physics-based problems: Angry birds in PDDL+. CoRR, abs/2303.16967, 2023.","title":"Heuristic search for physics-based problems: Angry birds in PDDL+","authors":"Wiktor Piotrowski, Yoni Sher, Sachin Grover, Roni Stern, Shiwali Mohan","year":"2023","venue":null,"doi":null,"url":null,"internal_url":null},{"position":44,"raw":"[Ramírez et al., 2017] Miquel Ramírez, Enrico Scala, Patrik Haslum, and Sylvie Thiébaux. Numerical integration and dynamic discretization in heuristic search planning over hybrid domains. CoRR, abs/1703.04232, 2017.","title":"Numerical integration and dynamic discretization in heuristic search planning over hybrid domains","authors":"Miquel Ramírez, Enrico Scala, Patrik Haslum, Sylvie Thiébaux","year":"2017","venue":null,"doi":null,"url":null,"internal_url":null},{"position":45,"raw":"[Richter and Westphal, 2010] Silvia Richter and Matthias Westphal. The LAMA planner: Guiding cost-based any- time planning with landmarks. J. Artif. Intell. Res., 39:127-177, 2010.","title":"The LAMA planner: Guiding cost-based anytime planning with landmarks","authors":"Silvia Richter, Matthias Westphal","year":"2010","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":46,"raw":"Rintanen, 07Jussi Rintanen. Complexity of concurrent temporal planning. In Proc. of International Conference on Automated Planning and Scheduling (ICAPS-07), page 287, 07.","title":"Complexity of concurrent temporal planning","authors":"Rintanen, Rintanen","year":null,"venue":"Proc. of International Conference on Automated Planning and Scheduling (ICAPS-07)","doi":null,"url":null,"internal_url":null},{"position":47,"raw":"[Scala et al., 2016] Enrico Scala, Patrik Haslum, Sylvie Thiébaux, and Miquel Ramírez. Interval-based relaxation for general numeric planning. In Proceedings of ECAI, volume 285, pages 655-663, 2016.","title":"Interval-based relaxation for general numeric planning","authors":"Enrico Scala, Patrik Haslum, Sylvie Thiébaux, Miquel Ramírez","year":"2016","venue":"Proceedings of ECAI","doi":null,"url":null,"internal_url":null},{"position":48,"raw":"[Scala et al., 2020a] Enrico Scala, Patrik Haslum, Sylvie Thiébaux, and Miquel Ramirez. Subgoaling techniques for satisficing and optimal numeric planning. Journal of Artificial Intelligence Research, 68:691-752, 2020.","title":"Subgoaling techniques for satisficing and optimal numeric planning","authors":"Scala","year":"2020","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":49,"raw":"[Scala et al., 2020b] Enrico Scala, Alessandro Saetti, Ivan Serina, and Alfonso Emilio Gerevini. Search-guidance mechanisms for numeric planning through subgoaling re- laxation. In ICAPS, 2020.","title":"Search-guidance mechanisms for numeric planning through subgoaling relaxation","authors":"Scala","year":"2020","venue":"ICAPS","doi":null,"url":null,"internal_url":null},{"position":50,"raw":"[Toyer et al., 2020] Sam Toyer, Sylvie Thiébaux, Felipe W. Trevizan, and Lexing Xie. Asnets: Deep learning for gen- eralised planning. J. Artif. Intell. Res., 68:1-68, 2020.","title":"Asnets: Deep learning for generalised planning","authors":"Sam Toyer, Sylvie Thiébaux, Felipe W Trevizan, Lexing Xie","year":"2020","venue":"J. Artif. Intell. Res","doi":null,"url":null,"internal_url":null},{"position":51,"raw":"[Vallati et al., 2016] Mauro Vallati, Daniele Magazzeni, Bart De Schutter, Lukás Chrpa, and Thomas Leo Mc- Cluskey. Efficient macroscopic urban traffic models for reducing congestion: A PDDL+ planning approach. In Proceedings of AAAI, pages 3188-3194, 2016.","title":"Efficient macroscopic urban traffic models for reducing congestion: A PDDL+ planning approach","authors":"Mauro Vallati, Daniele Magazzeni, Bart De Schutter, Lukás Chrpa, Thomas Leo Mc-Cluskey","year":"2016","venue":"Proceedings of AAAI","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}