FlashPlanner 1.0.2

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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 Classical_BestFirst --heuristic hWeighted(hFF(),10)

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

Classical Planners

These planners is able to find solutions for SMALL problems. The planners are:

• GreedyBFS: Greedy Best First Search
• GreedyBFSUAR: Greedy Best First Search with Under-Approximation Refinement (UAR)
• GreedyBFSPO: Greedy Best First Search with Preferred Operators (PO)
• GreedyBFSDHE: Greedy Best First Search with Deferred Heuristic Evaluation (DHE)

For these planners, there is a set of heuristics as well.

• hConstant: 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: Takes one of the previously given heuristics, and weights its result from a constant.

There are also a set of "collection heuristics" that runs on a set of heuristics:

• hColMax: Gets the highest heuristic value from a set of heuristics
• hColSom: Gets the sum of the heuristic values from a set of heuristics

Again do note, that these planners are very inefficient, and will run out of memory with larger problems.

Examples

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

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

Black Box Planners

This is a type of planners where the heuristic gets seriously limited, by not allowing it to know any structural knowledge of the domain.

The current planners are:

• GreedyBFS: Greedy Best First Search
• GreedyBFSFocused: Greedy Best First Search with Focused Macros.

This also only support the hGoal heuristic