TLPlan features

  • Implemented in C and runs under UNIX and MS-Windows.
  • Supports the full ADL language as defined in Pednault in his KR89 paper. This includes full support for functions and for arbitrary first-order preconditions that might include disjunction.
  • Also supports recursive ADL functions. For example, consider a blocks world where every block has an x-y location (z coordinate optional) and where we have an action that can slide an entire tower of blocks to a new x-y location. To update the x-y location of all of the blocks in the tower we need a something like a recursively defined add list.
  • Supports functions and thus domains with resources.
  • With proper domain specific control information it is orders of magnitude faster than any other AI planning system (thus verifying that domain control information is an appropriate mechanism for moving to the next level of AI planning performance).
  • Features a rich set of features to make it easier to specify planning domains, including a carefully designed domain specification language.
  • Comes with a wide range of implemented planning domains.

On Line Material Available


  1. Planning with Resources and Concurrency: A Forward Chaining Approach, F. Bacchus and M. Ady, International Joint Conference on Artificial Intelligence (IJCAI-2001), pages 417-424, 2001.
  2. Using Temporal Logics to Express Search Control Knowledge for Planning, F. Bacchus and F. Kabanza, Artificial Intelligence, vol 116, 2000. This paper gives a detailed description of the TLPlan system, and presents the results of an extensive series of empirical studies comparing TLPlan and other planning systems.
  3. Using Temporal Logic to Control Search in a Forward Chaining Planner, F. Bacchus and F. Kabanza, New Directions in Planning, M. Ghallab and A. Milani (Eds.) IOS Press, pages 141--153, 1996. The very first paper on TLPlan. Superseded by the previous paper.
  4. Planning for Temporally Extended Goals, F. Bacchus and F. Kabanza, Annals of Mathematics and Artificial Intelligence, vol. 22, pages 5--27, 1998. This paper shows how the approach can be extended so as to generate plans satisfying more complex temporally extended goals.
  5. Planning for Temporally Extended Goals, F. Bacchus and F. Kabanza, National Conference on Artificial Intelligence (AAAI-96), pages 1215--1222, 1996. A shorter version of the previous paper.


Legal Matters

The software available at this site is copyright (c) 1993, 1997, 2003 Fahiem Bacchus and Michael Ady. All rights are reserved. Use of this software is permitted for non-commercial research purposes, and it may be copied only for that use. All copies must include this copyright message. This software and any documentation and/or information supplied with it is distributed on an as is basis. Fahiem Bacchus and the University of Toronto make no warranties, express or implied, including but not limited to implied warranties of merchantability and fitness for a particular purpose, regarding the documentation, functions or performance of such software, documentation and/or information.

C Software

Tlplan C source as a gzipped tar file.
The C Software can be downloaded using the link above. This release is the latest version that won the AIPS2002 planning competition. The release includes all source code and should easily compile under Unix. At one time it also compiled to a Windows executable using MS-Visual C++. It should be possible make it compile again---but out of the box it doesn't. If you you succeed in making it compile under Visual C++, we would be interested in puting the new version up for others to use---send me e-mail:

Commercial Licenses

TLPlan is a robust peice of software built to industrial standards. If you are interested in commercial applications please contact the authors. Commercial licenses can be negotiated, and unrestricted use evaluation copies can be made available.

Scheme Software

The C-version is newer it also has a much cleaner input syntax, many more features (e.g., defined functions, recursive ADL actions, etc.) than the scheme version. Nevertheless, this version is perhaps more "hackable". For that reason we make it available here, it is unsupported software that you use at your own risk. This code is also much slower than the original C-version (which in turn is orders of magnitude slower than the current C-version).

Tlplan scheme as a gzipped tar file. Developed under MIT Scheme. The distribution includes a manual that describes the Scheme version. Check the manual first as it contains the installation instructions.