Many classical planning frameworks are built on first-order languages. The first-order expressive power is desirable for compactly representing actions via schemas, and for specifying quantified conditions such as ¬∃xblocks_door(x). In contrast, several recent epistemic planning frameworks are built on propositional epistemic logic. The epistemic language is useful to describe planning problems involving higher-order reasoning or epistemic goals such as Ka¬problem.

This paper develops a first-order version of Dynamic Epistemic Logic (DEL). In this framework, for example, ∃xKx∃yblocks_door(y) is a formula. The formalism combines the strengths of DEL (higher-order reasoning) with those of first-order logic (lifted representation) to model multi-agent epistemic planning. The paper introduces an epistemic language with a possible-worlds semantics, followed by novel dynamics given by first-order action models and their execution via product updates. Taking advantage of the first-order machinery, epistemic action schemas are defined to provide compact, problem-independent domain descriptions, in the spirit of PDDL.

Concerning metatheory, the paper defines axiomatic normal term-modal logics, shows a Canonical Model Theorem-like result which allows establishing completeness through frame characterization formulas, shows decidability for the finite agent case, and shows a general completeness result for the dynamic extension by reduction axioms.