FlashPlanner 1.0.12

<p align="center"> <img src="https://github.com/kris701/FlashPlanner/assets/22596587/d3f387a6-e0b5-4118-9801-c125a4e64100" width="200" height="200" /> </p>

Flash Planner

This is a project that contains a simple planner, operating on a grounded representation. You can either use the planner as the C# code or use the CLI interface to get plans. The planner expects a grounded representation of a PDDL domain+problem, that can be obtained from the Translator.

The following is an example of how to use the CLI interface:

dotnet run -- --domain domain.pddl --problem p01.pddl --search "greedy(hGoal())"

The available search engines are:

• greedy: Greedy Search
• greedy_underaprox: Greedy Search with Under-Approximation Refinement (UAR)
• greedy_prefered: Greedy Search with Preferred Operators (PO)
• greedy_defered: Greedy Search with Deferred Heuristic Evaluation (DHE)
• greedy_bb: Black box greedy search
• greedy_bb_focused: Black box Greedy Search with Focused Macros.

Do note that the black box planners only support the hGoal heuristic.

The available heuristics are:

• hConstant(n): Returns a given constant all the time
• hDepth(): Simply returns a cost that is 1 lower than its parent
• hFF(): Returns a cost based on a solution to the relaxed planning graph for the problem
• hAdd(): Retuns the sum of actions needed to achive every goal fact
• hMax(): Returns the highest amount of actions needed to achive a goal fact.
• hGoal(): Returns the amount of goals that are achived in the given state, i.e. h = allGoals - achivedGoals
• hPath(): Returns the cost of the current branch being evaluated
• hWeighted(h,w): Takes one of the previously given heuristics, and weights its result from a constant.

This project is also available as a package on the NuGet Package Manager.

Examples

To find a plan using the Greedy Best First Search engine:

var decl = new PDDLDecl(...);
var translator = new PDDLToSASTranslator(true);
var sas = translator.Translate(decl);
using (var greedyBFS = new GreedyBFS(sas, new hFF(decl)))
{
   var plan = greedyBFS.Solve();
}

Supported PDDL Requirements

Here is the set of requirements that the planner supports.

• STRIPS (:strips)
• Typing (:typing)
• Disjunctive Preconditions (:disjunctive-preconditions)
• Equality (:equality)
• Quantified Preconditions (:quantified-preconditions)
  • Existential Preconditions (:existential-preconditions)
  • Universal Preconditions (:universal-preconditions)
• Conditional Effects (:conditional-effects)
• Domain Axioms (:domain-axioms)
  • Subgoals Through Axioms (:subgoals-through-axioms)
  • Expression Evaluation (:expression-evaluation)
• ADL (:adl)
• Fluents (:fluents)
• Durative Actions (:durative-actions)
  • Durative Inequalities (:durative-inequalities)
  • Continuous Effects (:continuous-effects)
• Negative Preconditions (:negative-preconditions)
• Derived Predicates (:derived-predicates)
• Timed Initial Literals (:timed-initial-literals)
• Action Expansions (:action-expansions)
• Foreach Expansions (:forach-expansions)
• DAG Expansions (:dag-expansions)
• Safety Constraints (:safety-constraints)
• Open World (:open-world)
• True Negation (:true-negation)
• UCPOP (:ucpop)
• Constraints (:constraints)
• Preferences (:preferences)