Axioms in Model-based Planners
  Axioms can be used to model derived predicates in domain- independent
planning models. Formulating models which use axioms can sometimes result in
problems with much smaller search spaces and shorter plans than the original
model. Previous work on axiom-aware planners focused solely on state- space
search planners. We propose axiom-aware planners based on answer set
programming and integer programming. We evaluate them on PDDL domains with
axioms and show that they can exploit additional expressivity of axioms.
