Compiling Temporal Numeric Planning into Discrete PDDL+: Extended Version

Abstract

Since the introduction of the PDDL+ modeling language, it was known that temporal planning with durative actions (as in PDDL 2.1) could be compiled into PDDL+. However, no practical compilation was presented in the literature ever since. We present a practical compilation from temporal planning with durative actions into PDDL+, fully capturing the semantics and only assuming the non-self-overlapping of actions. Our compilation is polynomial, retains the plan length up to a constant factor and is experimentally shown to be of practical relevance for hard temporal numeric problems.

This paper is an extended version of the homonymous appearing in the ICAPS 2026 proceedings. This version provides the proofs and addidional explanations of the compilation