The Impact of PDDL+ Language Features on Planning Performance: An Empirical Analysis on a Real-world Case Study

Abstract

PDDL+ is an expressive formalism that allows for the use of planning in complex real-world applications. It includes a number of features designed to improve the readability and conciseness of the resulting knowledge models, but that are commonly doubted to have detrimental impact on the performance of domain-independent searches and heuristics. In this paper we empirically assess the impact of such features in a challenging real-world case study.