PDDL+ Planning via Constraint Answer Set Programming
  PDDL+ is an extension of PDDL that enables modelling planning domains with
mixed discrete-continuous dynamics. In this paper we present a new approach to
PDDL+ planning based on Constraint Answer Set Programming (CASP), i.e. ASP
rules plus numerical constraints. To the best of our knowledge, ours is the
first attempt to link PDDL+ planning and logic programming. We provide an
encoding of PDDL+ models into CASP problems. The encoding can handle non-linear
hybrid domains, and represents a solid basis for applying logic programming to
PDDL+ planning. As a case study, we consider the EZCSP CASP solver and obtain
promising results on a set of PDDL+ benchmark problems.
