TitleMixed Propositional Metric Temporal Logic: A New Formalism in Temporal Planning
Publication TypeConference Proceedings
Year of Conference2016
AuthorsTo, SThanh, Roberts, M, Apker, T, Johnson, B, Aha, DW
Conference Name2015 AAAI Workshop on Planning for Hybrid Systems
Date PublishedFebruary 2016
Conference LocationPhoenix, AZ

Temporal logics have been used in autonomous planning to represent and reason about temporal planning problems. However, such techniques have typically been restricted to either (1) representing actions, events, and goals with temporal properties or (2) planning for temporally-extended goals under restrictive conditions of classical planning. We introduce Mixed Propositional Metric Temporal Logic (MPMTL), where formulae in MPMTL are built over mixed binary and continuous real variables. MPMTL provides a natural, flexible formalism for representing and reasoning about temporal problems. We analyze the complexity of MPMTL formulae satisfiability and model checking, and identify MPMTL fragments with lower complexity. We also introduce an approach to world modeling using a timeline vector, relevant to temporal planning with continuous change (as opposed to the use of discrete states). Our model supports retroactive action progression, concurrent and overlapping actions with discrete and continuous changes, and concurrent effects to the same variable. For reasoning about this temporal planning problem, we define a progression function for actions with the new temporal properties and a solution to this temporal task.

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