A Compilation of the Full PDDL+ Language into SMT

Planning in hybrid systems is important for dealing with real world applications. PDDL+ supports this representation of domains with mixed discrete and continuous dynamics, and supports events and processes modeling exogenous change. Motivated by numerous SAT-based planning approaches, we propose an approach to PDDL+ planning through SMT, describing an SMT encoding that captures all the features of the PDDL+ problem as published by Fox and Long (2006). The encoding can be applied on domains with nonlinear continuous change. We apply this encoding in a simple planning algorithm, demonstrating excellent results on a set of benchmark problems.