Encoding Planning Constraints into Partial Order Planning Domains

This paper present a technique for encoding the representation of a constrained planning problem through the generation of an equivalent unconstrained planning problem.A planning constraints description language is introduced. It is shown that a significant subset of PCDL can be encoded by modifying the planning domain and goals of a classical planner. The constrained problem can then be solved by submitting the modificed problem to any classical planner, the solution to the unconstrained planning problem can be mapped back in the original constrained planning domain in linear time/space.