解决动态对象变化的规划问题，突破传统静态对象假设限制。
Planning with Dynamically Changing Domains
- 用一阶逻辑建模动态增删对象的规划场景
- 在有限计划长度下保证搜索完备性与正确性
- 适合需要处理对象动态变化的智能系统设计
经典规划与一致规划中假设对象集合是预先固定的，仅这些对象可参与动作与谓词。这被称为域封闭假设（DCA）。但实际中存在对象随动作动态增减的问题，如新对象生成或旧对象销毁。本文在一阶逻辑框架下建模该类规划问题，假设初始理论为有限一致的谓词文字集，讨论何时能保证所有情境下仅有有限可能动作，并对计划长度施加有限整数约束，提出在规划时对动作序列进行实例化搜索。证明了方法的正确性与完备性。该方法可求解无感应动作、无析取谓词的顺序广义规划与一致规划交集中的有界规划问题。文中还展示了概念验证的规划器实现。
原文摘要 · Abstract (English)
In classical planning and conformant planning, it is assumed that there are finitely many named objects given in advance, and only they can participate in actions and in fluents. This is the Domain Closure Assumption (DCA). However, there are practical planning problems where the set of objects changes dynamically as actions are performed; e.g., new objects can be created, old objects can be destroyed. We formulate the planning problem in first-order logic, assume an initial theory is a finite consistent set of fluent literals, discuss when this guarantees that in every situation there are only finitely many possible actions, impose a finite integer bound on the length of the plan, and propose to organize search over sequences of actions that are grounded at planning time. We show the soundness and completeness of our approach. It can be used to solve the bounded planning problems without DCA that belong to the intersection of sequential generalized planning (without sensing actions) and conformant planning, restricted to the case without the disjunction over fluent literals. We discuss a proof-of-the-concept implementation of our planner.
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