A Planning Compilation to Reason About Goal Achievement at Planning Time

Identifying the specific actions that achieve goals when

solving a planning task might be beneficial for various

planning applications. Traditionally, this identification occurs

post-search, as some actions may temporarily achieve goals

that are later undone and re-achieved by other actions. In

this paper, we propose a compilation that extends the

original planning task with commit actions that enforce the

persistence of specific goals once achieved, allowing

planners to identify permanent goal achievement during

planning. Experimental results indicate that solving the

reformulated tasks does not incur on any additional

overhead both when performing optimal and suboptimal

planning, while providing useful information for some

downstream tasks.