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RanTanPlan

RanTanPlan is a planner that supports numeric fluents and uses a planning as SMT approach.

The code is in a state where it is more like a research prototype where various successful and failed ideas have been implemented. A rewrite of the successful ones is in dire need, to help further development and to clean-up the code base.

Requirements

  • Yices SMT solver
  • Z3 SMT solver
  • antlr3c (v3.2 or 3.4): you can download it from (https://www.antlr3.org/download/C/)
  • a recent GCC or a C++ compiler with C++11 support, and a JVM

Install

On the Makefile inside the srcfolder, CFLAGS and LDFLAGS are defined and then passed to the compiler. Depending on where you have installed the Z3, Yices and antlr3c you will have to change those. Personally I kept them on a folder called solvers.

Then, just use a make.

Usage

The binary has lots of parameters, some being useless and some being cryptic. The main usages correspond to three published articles:

  • [1] Linear semantics:
    • ./rantanplan -d domain.pddl -p problem.pddl -s output.plan -i c -m l
  • [1] Exists-step semantics with a syntactic check for incompatibilities between actions:
    • ./rantanplan -d domain.pddl -p problem.pddl -s output.plan -i o -t f
  • [2] Exist-step semantics with semantic checks for incompatibilities:
    • ./rantanplan -d domain.pddl -p problem.pddl -s output.plan -i h -t p
  • [3] Relaxed-Relaxed Encoding:
    • ./rantanplan -d domain.pddl -p problem.pddl -s output.plan -i h -t c
  • [3] Informed Relaxed-Relaxed Encoding:
    • to generate the order: ./rantanplan -d domain.pddl -p problem.pddl -s output.plan -i c -t c -o relaxed -k -z order.txt
    • to use the generated order: ./rantanplan -d domain.pddl -p problem.pddl -s output.plan -i c -t c -o relaxed -z order.txt

Articles

[1] - https://scholar.google.es/scholar?oi=bibs&cluster=5466607723729329909 : The RANTANPLAN Planner: System Description

[2] - https://scholar.google.es/scholar?oi=bibs&cluster=17029913781013285181 : A Semantic Notion of Interference for Planning Modulo Theories

[3] - https://scholar.google.es/scholar?oi=bibs&cluster=3114120780279434633 : Relaxed∃-Step Plans in Planning as SMT