SAPA: A Multi-objective Metric Temporal Planner

Abstract

SAPA is a domain-independent heuristic forward chaining planner that can handle durative actions, metric resource constraints, and deadline goals. It is designed to be capable of handling the multi-objective nature of metric temporal planning. Our technical contributions include (i) planning-graph based methods for deriving heuristics that are sensitive to both cost and makespan (ii) techniques for adjusting the heuristic estimates to take action interactions and metric resource limitations into account and (iii) a linear time greedy post-processing technique to improve execution flexibility of the solution plans. An implementation of SAPA using many of the techniques presented in this paper was one of the best domain independent planners for domains with metric and temporal constraints in the third International Planning Competition, held at AIPS-02. We describe the technical details of extracting the heuristics and present an empirical evaluation of the current implementation of SAPA.

References in corpus (6)

• The FF Planning System: Fast Plan Generation Through Heuristic Search
• PDDL2.1: An Extension to PDDL for Expressing Temporal Planning Domains
• The 3rd International Planning Competition: Results and Analysis
• VHPOP: Versatile Heuristic Partial Order Planner
• Efficient Implementation of the Plan Graph in STAN
• The GRT Planning System: Backward Heuristic Construction in Forward State-Space Planning

Cited by in corpus (1)

• The 3rd International Planning Competition: Results and Analysis