Planning with Derived Predicates Based on Their State-independent Activation Sets
基于与状态无关的激活集的包含派生谓词的规划问题求解

Derived predicate is one of two new features of PDDL2.2 language, and two domains with derived predicates in IPC-4 are very challenging to many planning system .In classical planning, derived predicates are predicates that are not effected directly by the domain actions, and their truth in the current state is inferred from that of some basic predicates via some domain axioms under the closed world assumption. Similar to rule graph and state-dependent activation set proposed by LPG-td, we propose another approach to planning with derived predicates where state-independent (not state-dependent)activation sets of a derived predicate are used in relax-plan heuristics.