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.

论文介绍了 Picat 计划器及其实现，以及在国际计划竞赛（IPC）2014 中使用的几个领域的规划模型，证明表格逻辑编程对计划的有效性，强调建模的重要性，并在示例模型中提出了几种建模技术，从设计状态表示以促进数据共享和对称性打破，用运算编码操作以进行有效的前置条件检查和状态更新，到整合领域知识和启发式算法。