An Epistemic Planning System Based on the Event Calculus

We propose an approach for single-agent epistemic planning in domains with incomplete knowledge. We argue that on the one hand the integration of epistemic reasoning into planning is useful because it makes the use of sensors more flexible. On the other hand, defining an epistemic problem description is an error prone task as the epistemic effects of actions are more complex than their usual physical effects. To overcome this problem we apply the axioms of the Discrete Event Calculus Knowledge Theory (DECKT) as rules to compile non-epistemic planning problem descriptions into epistemic descriptions. We show how the resulting planning problems are solved and describe our implemented prototype which is based on Answer Set Programming (ASP).