T-SATPLAN:: A SAT-BASED TEMPORAL PLANNER.

Recent advances in solving constraint satisfaction problems (CSPs) and heuristic search have made it possible to solve classical planning problems significantly faster. There is an increasing amount of work on extending these advances to solving planning problems in more expressive languages. These problems and languages contain metric time, quantifiers and resource quantities. SAT-based approaches are very effective at optimal planning. In this paper we report on SAT-based temporal planner T-SATPLAN. One key challenge in the development of planners casting planning as SAT or CSP is the identification of constraints which are satisfied if and only if there is a plan of k steps. In this paper we show how such a SAT encoding can be synthesized for temporal planning. As part of this, we generalize explanatory frame axioms for two states of fluents (true, false) to three states of fluents (true, false and undefined). We show how this SAT encoding can be simplified. We discuss two additional SAT encodings of temporal planning. The encoding schemes make it easier to exploit progress in SAT and CSP solving to solve temporal planning problems. We also report on an experimental evaluation of T-SATPLAN using one such encoding scheme. The evaluation shows that significantly large SAT encodings of temporal planning problems can be solved extremely fast. [ABSTRACT FROM AUTHOR]