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HPlan-P

Hplan-p is an extension to the TLPlan system. It is comprised by the modules described in the following section.

Extended version of TLPlan

This is an enhanced version of TLPLan that can plan for problems that contain preferences. One of the most important features of the planner is that it is able to compute domain-independent heuristics for both standard goals and preferences. In particular it is able to compute the G, P, B, and D(r) functions described in this paper.

The input to this planner is a domain described in an extended version of the TLPlan domain definition language. These domains are similar to classical TLplan domains but, in addition, they require a definition of -among others- a metric function, and special predicates defining the satisfaction of the individual preferences. The extended TLplan language is not documented (yet), therefore we recommend using the [tar file needed]pddl2tlplan translator[/].

PDDL2TLPlan translator

This program takes a PDDL3 domain description and problem description and generates a problem file in the TLPlan extended domain language. The preprocessing phase described in the paper is done by the translator; this means that temporally extended preferences are transformed into Parameterized Nondeterministic Finite Automata (PNFA) in this phase. This transformation is essential to applying heuristics in a more straightforward way.

Incremental Search Algorithm & Heuristics

Although the extended TLPlan system is able to compute most of the heuristics functions, the actual search algorithm is not part of TLPlan. Indeed, the incremental search algorithm is implemented in the TLPlan language. In the current HPlan-P distribution, it can be found in the isearch_new.tlp file.

To guide the search, the users can choose from any of 44 pre-defined heuristics, however if they wish to define their own, this can also be done by creating new heuristics, as it is explained in the documentation.

On Line Material Available

Papers

  1. A Heuristic Search Approach to Planning with Temporally Extended Preferences, Baier, J. and Bacchus, F. and McIlraith, S., 2007 Proceedings of the Twentieth International Joint Conference on Artificial Intelligence (IJCAI-07), pp. 1808-1815, January , Hyderabad, India
  2. Planning with First-Order Temporally Extended Goals Using Heuristic Search, Jorge A. Baier and Sheila McIlraith, Proceedings of the 21st National Conference on Artificial Intelligence (AAAI-06), pp. 788-795, July 2006, Boston, MA.
  3. Planning with Temporally Extended Goals Using Heuristic Search, Jorge A. Baier and Sheila McIlraith, Proceedings of the 16th International Conference on Automated Planning and Scheduling (ICAPS-06), June 2006, Lake District, UK

Software

The C source of HPlan-P is distributed with the TLPlan software, which you can find here.

Additionally,
  • Here is the translator for propositional TEGs. This translator needs SWI-Prolog. The input is a planning problem in prolog syntax (more details in the documentation in the package). The output are PDDL domains/problems.
  • Here is the translator for first-order TEGs. This translator needs SWI-Prolog. The input is a planning problem in prolog syntax (more details in the documentation in the package). The output are PDDL domains/problems.