# PDDL+ Planning via Constraint Answer Set Programming

arXiv: https://arxiv.org/abs/1609.00030 · HTML: https://mlsanity.com/paper/1609.00030/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Aug 2016.

## Built on by (most cited first, 3 of 3)

- [Modeling and Reasoning in Event Calculus using Goal-Directed Constraint Answer Set Programming](https://mlsanity.com/paper/2106.14566/) (2021)
- [A Logical Semantics for PDDL+](https://mlsanity.com/paper/2111.11588/) (2021)
- [Formalisation of Action with Durations in Answer Set Programming](https://mlsanity.com/paper/2109.08305/) (2021)

## Abstract (arXiv)

PDDL+ is an extension of PDDL that enables modelling planning domains with mixed discrete-continuous dynamics. In this paper we present a new approach to PDDL+ planning based on Constraint Answer Set Programming (CASP), i.e. ASP rules plus numerical constraints. To the best of our knowledge, ours is the first attempt to link PDDL+ planning and logic programming. We provide an encoding of PDDL+ models into CASP problems. The encoding can handle non-linear hybrid domains, and represents a solid basis for applying logic programming to PDDL+ planning. As a case study, we consider the EZCSP CASP solver and obtain promising results on a set of PDDL+ benchmark problems.