cx_up_nextflap

NEXTFLAP temporal planner integrated into Unified Planning.

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README

cx_up_nextflap

This wraps the temporal and numeric planner NEXTFLAP and it’s integration into the unified planning framework for easy deployment in ROS (source).

NEXTFLAP utilizes SMT solving via th z3 theorem prover. This wrapper is accompanied by the cx_z3_vendor package, which bundles a version that should work well with NEXTFLAP.

The both the original project and this one are licensed under Apache-2.0 license.

Original Description

This is the NEXTFLAP UP integrator. NEXTFLAP is an expressive temporal and numeric planner supporting planning problems involving Boolean and numeric state variables, instantaneous and durative actions. A distinctive feature of NEXTFLAP is the ability to reason over problems with a prevalent numeric structure, which may involve linear and non-linear numeric conditions and effects. NEXTFLAP favors the capability of modeling expressive problems; indeed it handles negative and disjunctive preconditions as well as existential and universal expressions. NEXTFLAP can be used as a satisficing planner and as a partial-order plan validator. NEXTFLAP is written completely in C++. NEXTFLAP is a numeric extension of TFLAP planner, and uses the Z3 Theorem Prover to check the numeric constraints and ensure consistency of plans.

Planning approaches of UP supported

Classical, Numeric and Temporal Planning

Partial-Order Plan Validator

Operative modes of UP currently supported

One shot planning Plan Validator