Background and State of the Art. Hybrid systems are systems with both continuous control variables and discrete logical modes. Many interesting real problems are indeed hybrid, including logistics planning, mission planning for autonomous vehicles, oil refinery management, supply management and disaster recovery. In these domains there are temporal, spatial and continuous constraints, and planning techniques capable of reasoning with suitably rich models are required. This motivates both increases in the modelling power to capture these constraints and extensions to classical approaches to planning to enable efficient management of such complex problems. This tutorial provides an introduction to modelling and solving planning problems in hybrid domains.
Recent Advances and New Challenges. This tutorial presents new benchmark problems motivating the need for modelling more realistic domains, and presents recent advances in the interaction between planning and robot control systems, aiming to generate sensible plans for real world situations. The tutorial ends with a discussion on current challenges and open problems in planning with hybrid domains.
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