Using AI-Planning to Solve a Kinodynamic Path Planning Problem and Its Application for HAPS

This work emphasizes on the ability of a domain-independent AI-planner to solve a kinodynamic path planning problem by recapitulating the encoding in the PDDL+ modelling language and by showing the easy extension for multiple HAPS. The advantage of the approach is highlighted with the concept of an implementation framework that incorporates tools to validate the problem model and to explain the plans to the operator. Some flight path plans are illustrated as well as the validation of plans are described.