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== Planning Domain Definition Language ==
The [[Planning Domain Definition Language]] (as of version 3.0<ref name="pddl3">[http://www.cs.yale.edu/homes/dvm/papers/pddl-ipc5.pdf Plan Constraints and Preferences in PDDL3], Gerevini and Long</ref>) supports the specification of preferences through <code>preference</code> statements. For example, the statement
:<code>(preference (always (clean room1)))</code> indicates that the user prefers that <code>room1</code> should be clean at each state of the plan. In other words, the planner should not schedule an action that causes <code>room1</code> to become dirty. As this example shows and in general, a preference is evaluated with regard to all states of a plan (if [[Semantics|semantically]] required). In addition to <code>always</code>, other constructs based on [[linear temporal logic]] are also supported, such as <code>sometime</code> (at least once during the plan), <code>sometime-after</code> (to be planned after a particular state) and <code>at-most-once</code> (the preference holds during at most one sequence of states in the plan).
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