将带持续时间的动作规划编译为PDDL+，实现高效求解。
Compiling Temporal Numeric Planning into Discrete PDDL+: Extended Version
- 提出从时序规划到PDDL+的实用编译方法，保持语义一致。
- 编译过程多项式时间完成，计划长度仅放大常数倍。
- 对复杂时序数值问题有效，适合需精确时序控制的场景。
自PDDL+建模语言提出以来，人们已知带有持续动作的时序规划（如PDDL 2.1）可被编译为PDDL+。然而，学术文献中始终未出现实际可行的编译方案。本文提出一种实用的编译方法，将带持续动作的时序规划完整转化为PDDL+，仅假设动作间不重叠。该编译为多项式时间复杂度，计划长度最多放大常数倍，并在实验中验证其对困难时序数值问题具有实际应用价值。
原文摘要 · Abstract (English)
Since the introduction of the PDDL+ modeling language, it was known that temporal planning with durative actions (as in PDDL 2.1) could be compiled into PDDL+. However, no practical compilation was presented in the literature ever since. We present a practical compilation from temporal planning with durative actions into PDDL+, fully capturing the semantics and only assuming the non-self-overlapping of actions. Our compilation is polynomial, retains the plan length up to a constant factor and is experimentally shown to be of practical relevance for hard temporal numeric problems.
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