Since the introduction of the PDDL+ modeling language, it was known that temporal planning with durative actions (as in PDDL 2.1) could be compiled into PDDL+. However, no practical compilation was presented in the literature ever since. We present a practical compilation from temporal planning with durative actions into PDDL+, fully capturing the semantics and only assuming the non-self-overlapping of actions. Our compilation is polynomial, retains the plan length up to a constant factor and is experimentally shown to be of practical relevance for hard temporal numeric problems.

翻译：自PDDL+建模语言引入以来，人们便认识到具有持续动作的时序规划（如PDDL 2.1所述）可被编译为PDDL+形式。然而，此后文献中从未提出过实用的编译方法。本文提出了一种将具有持续动作的时序规划编译为PDDL+的实用方法，该方法完整保留了语义，且仅假设动作非自重叠。我们的编译过程具有多项式复杂度，在常数因子内保持规划长度不变，并通过实验证明其对困难的时序数值问题具有实际应用价值。