Dvorak

AI Planning is inherently hard and hence it is desirable to derive as much information as we can from the structure of the planning problem and let this information be exploited by a planner. Many recent planners use the finite-domain state-variable representation of the problem instead of the traditional propositional representation. However, most planning problems are still specified in the propositional representation due to the widespread modeling language PDDL and it is hard to generate a compact and computationally efficient state variable representation from the propositional model. In this paper we propose a novel method for automaticallygenerating an efficient state-variable representation from the propositional representation. This method groups sets of propositions into state variables based onthe mutex relations introduced in the planning graph. As we shall show experimentally, our method outperforms the current state-of-the-art method both in the smaller number of generated state variables and in the increased performance of planners.