{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T05:46:56Z","timestamp":1768456016706,"version":"3.49.0"},"reference-count":34,"publisher":"Cambridge University Press (CUP)","issue":"4-5","license":[{"start":{"date-parts":[[2015,9,3]],"date-time":"2015-09-03T00:00:00Z","timestamp":1441238400000},"content-version":"unspecified","delay-in-days":64,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Theory and Practice of Logic Programming"],"published-print":{"date-parts":[[2015,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper describes Picat's planner, its implementation, and planning models for several domains used in International Planning Competition (IPC) 2014. Picat's planner is implemented by use of tabling. During search, every state encountered is tabled, and tabled states are used to effectively perform resource-bounded search. In Picat, structured data can be used to avoid enumerating all possible permutations of objects, and term sharing is used to avoid duplication of common state data. This paper presents several modeling techniques through the example models, ranging from designing state representations to facilitate data sharing and symmetry breaking, encoding actions with operations for efficient precondition checking and state updating, to incorporating domain knowledge and heuristics. Broadly, this paper demonstrates the effectiveness of tabled logic programming for planning, and argues the importance of modeling despite recent significant progress in domain-independent PDDL planners.<\/jats:p>","DOI":"10.1017\/s1471068415000216","type":"journal-article","created":{"date-parts":[[2015,9,3]],"date-time":"2015-09-03T08:21:21Z","timestamp":1441268481000},"page":"543-558","source":"Crossref","is-referenced-by-count":7,"title":["Planning as tabled logic programming"],"prefix":"10.1017","volume":"15","author":[{"given":"NENG-FA","family":"ZHOU","sequence":"first","affiliation":[]},{"given":"ROMAN","family":"BART\u00c1K","sequence":"additional","affiliation":[]},{"given":"AGOSTINO","family":"DOVIER","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2015,9,3]]},"reference":[{"key":"S1471068415000216_ref1","unstructured":"Alford R. , Kuter U. and Nau D. S. 2009. Translating HTNs to PDDL: A small amount of domain knowledge can go a long way. In IJCAI. 1629\u20131634."},{"key":"S1471068415000216_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(85)90084-0"},{"key":"S1471068415000216_ref3","volume-title":"Knowing, Reasoning, and Acting: Essays in Honour of Hector J. Levesque","author":"Baier","year":"2011"},{"key":"S1471068415000216_ref6","doi-asserted-by":"publisher","DOI":"10.1145\/2043174.2043195"},{"key":"S1471068415000216_ref21","unstructured":"McDermott D. 1998. The planning domain definition language manual. CVC Report 98-003, Yale Computer Science Report 1165."},{"key":"S1471068415000216_ref10","doi-asserted-by":"publisher","DOI":"10.1145\/976706.976708"},{"key":"S1471068415000216_ref34","doi-asserted-by":"publisher","DOI":"10.1017\/S147106840700316X"},{"key":"S1471068415000216_ref24","unstructured":"Pientka B. December 2003. Tabled higher-order logic programming. Ph.D. thesis, Technical Report CMU-CS-03-185."},{"key":"S1471068415000216_ref18","volume-title":"Logic for Problem Solving","author":"Kowalski","year":"1979"},{"key":"S1471068415000216_ref23","doi-asserted-by":"crossref","unstructured":"Nielson F. , Nielson H. R. , Sun H. , Buchholtz M. , Hansen R. R. , Pilegaard H. and Seidl H. 2004. The succinct solver suite. In Proc. Tools and Algorithms for the Construction and Analysis of Systems: 10th International Conference (TACAS), LNCS 2988. 251\u2013265.","DOI":"10.1007\/978-3-540-24730-2_21"},{"key":"S1471068415000216_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/S0743-1066(96)00121-5"},{"key":"S1471068415000216_ref31","doi-asserted-by":"crossref","first-page":"561","DOI":"10.3233\/FI-2013-849","article-title":"A tabled Prolog program for solving Sokoban","volume":"124","author":"Zhou","year":"2013","journal-title":"Fundam. Inform."},{"key":"S1471068415000216_ref29","first-page":"93","article-title":"Memoing for logic programs","volume":"35","author":"Warren","year":"1992","journal-title":"Comm. of the ACM, Special Section on Logic Programming"},{"key":"S1471068415000216_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S1471068414000295"},{"key":"S1471068415000216_ref11","doi-asserted-by":"crossref","DOI":"10.2200\/S00457ED1V01Y201211AIM019","volume-title":"Answer Set Solving in Practice","author":"Gebser","year":"2012"},{"key":"S1471068415000216_ref33","doi-asserted-by":"crossref","unstructured":"Zhou N.-F. , Kameya Y. and Sato T. 2010. Mode-directed tabling for dynamic programming, machine learning, and constraint solving. In ICTAI. 213\u2013218.","DOI":"10.1109\/ICTAI.2010.103"},{"key":"S1471068415000216_ref7","unstructured":"Chrpa L. , Vallati M. and McCluskey L. 2014. International planning competition."},{"key":"S1471068415000216_ref26","doi-asserted-by":"crossref","unstructured":"Tamaki H. and Sato T. 1986. OLD resolution with tabulation. In ICLP. 84\u201398.","DOI":"10.1007\/3-540-16492-8_66"},{"key":"S1471068415000216_ref16","unstructured":"Kautz H. and Selman B. 1998. The role of domain-specific knowledge in the planning as satisfiability framework. In AIPS98. 181\u2013189."},{"key":"S1471068415000216_ref22","doi-asserted-by":"crossref","unstructured":"Michie D. 1968. \u201cmemo\u201d functions and machine learning. Nature, 19\u201322.","DOI":"10.1038\/218019a0"},{"key":"S1471068415000216_ref4","doi-asserted-by":"crossref","unstructured":"Bart\u00e1k R. , Dovier A. and Zhou N.-F. 2015. On modeling planning problems in tabled logic programming. In Proceedings of the 17th International Symposium on Principles and Practice of Declarative Programming. PPDP '15. 31\u201342.","DOI":"10.1145\/2790449.2790521"},{"key":"S1471068415000216_ref15","unstructured":"Hewitt C. 1969. Planner: A language for proving theorems in robots. In IJCAI. 295\u2013302."},{"key":"S1471068415000216_ref28","unstructured":"Warren D. H. D. 1974. WARPLAN: A system for generating plans. Tech. Rep. DCL Memo 76, University of Edinburgh."},{"key":"S1471068415000216_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(02)00186-8"},{"key":"S1471068415000216_ref27","unstructured":"Torralba A. , Alcazar V. and Borrajo D. 2014. Symba: A symbolic bidirectional a planner. In The 2014 International Planning Competition. 105\u2013109."},{"key":"S1471068415000216_ref25","doi-asserted-by":"crossref","unstructured":"Ramakrishna Y. S. , Ramakrishnan C. R. , Ramakrishnan I. V. , Smolka S. A. , Swift T. and Warren D. S. 1997. Efficient model checking using tabled resolution. In Computer Aided Verification. 143\u2013154.","DOI":"10.1007\/3-540-63166-6_16"},{"key":"S1471068415000216_ref32","doi-asserted-by":"publisher","DOI":"10.1017\/S1471068412000178"},{"key":"S1471068415000216_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(99)00071-5"},{"key":"S1471068415000216_ref9","first-page":"259","article-title":"Perspectives on logic-based approaches for reasoning about actions and change","volume":"6565","author":"Dovier","year":"2011","journal-title":"LNCS"},{"key":"S1471068415000216_ref30","unstructured":"Zhou N.-F. 2014. Combinatorial search with Picat. ICLP, invited talk, http:\/\/arxiv.org\/abs\/1405.2538."},{"key":"S1471068415000216_ref12","first-page":"193","article-title":"Action languages","volume":"2","author":"Gelfond","year":"1998","journal-title":"Electron. Trans. Artif. Intell."},{"key":"S1471068415000216_ref13","doi-asserted-by":"publisher","DOI":"10.1002\/spe.824"},{"key":"S1471068415000216_ref14","unstructured":"Haslum P. and Scholz U. 2003. Domain knowledge in planning: Representation and use. In ICAPS Workshop on PDDL."},{"key":"S1471068415000216_ref8","doi-asserted-by":"publisher","DOI":"10.1145\/249069.231399"}],"container-title":["Theory and Practice of Logic Programming"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S1471068415000216","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,9,7]],"date-time":"2020-09-07T23:12:38Z","timestamp":1599520358000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S1471068415000216\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,7]]},"references-count":34,"journal-issue":{"issue":"4-5","published-print":{"date-parts":[[2015,7]]}},"alternative-id":["S1471068415000216"],"URL":"https:\/\/doi.org\/10.1017\/s1471068415000216","relation":{},"ISSN":["1471-0684","1475-3081"],"issn-type":[{"value":"1471-0684","type":"print"},{"value":"1475-3081","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,7]]}}}