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Task Planning in Robotics: an Empirical Comparison of PDDL-based and ASP-based Systems

arXiv 1804.08229 ↗First posted 23 Apr 2018cs.AIcited by 40

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Abstract (arXiv)

Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning problems. However, many different planners exist, each with different strengths and weaknesses, and there are no general rules for which planner would be best to apply to a given problem. In this article, we empirically compare the performance of state-of-the-art planners that use either the Planning Domain Description Language (PDDL), or Answer Set Programming (ASP) as the underlying action language. PDDL is designed for task planning, and PDDL-based planners are widely used for a variety of planning problems. ASP is designed for knowledge-intensive reasoning, but can also be used for solving task planning problems. Given domain encodings that are as similar as possible, we find that PDDL-based planners perform better on problems with longer solutions, and ASP-based planners are better on tasks with a large number of objects or in which complex reasoning is required to reason about action preconditions and effects. The resulting analysis can inform selection among general purpose planning systems for particular robot task planning domains.

Key facts. Cited by 40 papers in the map (data through 7 Oct 2026). First posted on arXiv 23 Apr 2018.

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Citing papers per year: 2021: 1; 2022: 4; 2023: 12; 2024: 10; 2025: 9; 2026: 4.

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  1. 2023Reasoning with Language Model is Planning with World Modelcited by 846
  2. 2022ProgPrompt: Generating Situated Robot Task Plans using Large Language Modelscited by 598
  3. 2023LLM+P: Empowering Large Language Models with Optimal Planning Proficiencycited by 496
  4. 2024NATURAL PLAN: Benchmarking LLMs on Natural Language Planningcited by 125
  5. 2023ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planningcited by 77
  6. 2022TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphscited by 59
  7. 2023DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignmentcited by 58
  8. 2023Tree-Planner: Efficient Close-loop Task Planning with Large Language Modelscited by 48
  9. 2023Interactive Task Planning with Language Modelscited by 36
  10. 2024LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Plannercited by 31
  11. 2023An In-depth Survey of Large Language Model-based Artificial Intelligence Agentscited by 30
  12. 2024TwoStep: Multi-agent Task Planning using Classical Planners and Large Language Modelscited by 29
28 more
  1. 2023Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worldscited by 26
  2. 2023Grounding Classical Task Planners via Vision-Language Modelscited by 23
  3. 2026PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulationcited by 20
  4. 2024DKPROMPT: Domain Knowledge Prompting Vision-Language Models for Open-World Planningcited by 14
  5. 2022Answer Set Planning: A Surveycited by 12
  6. 2022Robot Task Planning and Situation Handling in Open Worldscited by 10
  7. 2024CaT-BENCH: Benchmarking Language Model Understanding of Causal and Temporal Dependencies in Planscited by 10
  8. 2025LLM+AL: Bridging Large Language Models and Action Languages for Complex Reasoning about Actionscited by 10
  9. 2025Generalizability of Large Language Model-Based Agents: A Comprehensive Surveycited by 10
  10. 2023Hierarchical generative modelling for autonomous robotscited by 9
  11. 2023Logic programming for deliberative robotic task planningcited by 8
  12. 2021MPTP: Motion-Planning-aware Task Planning for Navigation in Belief Spacecited by 7
  13. 2024AlignBot: Aligning VLM-powered Customized Task Planning with User Reminders Through Fine-Tuning for Household Robotscited by 7
  14. 2025Structured Preference Optimization for Vision-Language Long-Horizon Task Planningcited by 7
  15. 2025LLM+MAP: Bimanual Robot Task Planning using Large Language Models and Planning Domain Definition Languagecited by 7
  16. 2025AdaptBot: Combining LLM with Knowledge Graphs and Human Input for Generic-to-Specific Task Decomposition and Knowledge Refinementcited by 3
  17. 2025ELHPlan: Efficient Long-Horizon Task Planning for Multi-Agent Collaborationcited by 3
  18. 2025Language and Planning in Robotic Navigation: A Multilingual Evaluation of State-of-the-Art Modelscited by 2
  19. 2026BrainMem: Brain-Inspired Evolving Memory for Embodied Agent Task Planningcited by 2
  20. 2024LaPuda: LLM-Enabled Policy-Based Query Optimizer for Multi-modal Datacited by 1
  21. 2024LLM-guided Task and Motion Planning using Knowledge-based Reasoningcited by 1
  22. 2023Get the Ball Rolling: Alerting Autonomous Robots When to Help to Close the Healthcare Loopcited by 0
  23. 2024A Strategy for Implementing description Temporal Dynamic Algorithms in Dynamic Knowledge Graphs by SPINcited by 0
  24. 2024Handling abort commands for household kitchen robotscited by 0
  25. 2025Look Before You Leap: Using Serialized State Machine for Language Conditioned Robotic Manipulationcited by 0
  26. 2025Preference-Based Long-Horizon Robotic Stacking with Multimodal Large Language Modelscited by 0
  27. 2026Zero-shot adaptable task planning for autonomous construction robots: a comparative study of lightweight single and multi-AI agent systemscited by 0
  28. 2026SCOPE: Evolving Symbolic World for Planning in Open-Ended Environmentscited by 0