POPF: Partial Order Planning Forwards

Page Contributors: adamgreen, Adam Green, Jan Dolejsi,

Year Published: 2010

Paper: Forward-Chaining Partial-Order Planning [ Coles,A. J. Coles, A. I. Fox, M. Long, D.]

Preceded By: COLIN, Crikey3

POPF is forwards-chaining temporal planner. Its name derives from the fact that it incorporates ideas from partial-order planning — during search, when applying an action to a state, it seeks to introduce only the ordering constraints needed to resolve threats, rather than insisting the new action occurs after all of those already in the plan. Its implementation is built on that for the planner COLIN, and it retains the ability to handle domains with linear continuous numeric effects.

Support

POPF has several versions and this guide provides support tables for versions 1.1 and 2

POPF 1.1

Requirement Supported?
PDDL 1.2  
:strips Yes
:typing Yes
:disjunctive-preconditions No
:equality Yes
:existential-preconditions No
:universal-preconditions Yes
:conditional-effects No
:domain-axioms No
:subgoals-through-axioms No
:safety-constraints No
:open-world No
:quantified-preconditions No
:adl No
:ucpop No
PDDL 2.1  
:numeric-fluents No
:durative-actions Yes
:duration-inequalities Yes
:continuous-effects Yes
:negative-preconditions No
PDDL 2.2  
:derived-predicates No
:timed-initial-literals Yes
PDDL 3  
:constraints No
:preferences No
PDDL 3.1  
:action-costs No
:goal-utilities No
PDDL+  
:time No

POPF 2

Requirement Supported?
PDDL 1.2  
:strips Yes
:typing Yes
:disjunctive-preconditions No
:equality Yes
:existential-preconditions No
:universal-preconditions Yes
:conditional-effects No
:domain-axioms No
:subgoals-through-axioms No
:safety-constraints No
:open-world No
:quantified-preconditions No
:adl No
:ucpop No
PDDL 2.1  
:numeric-fluents Yes
:durative-actions Yes
:duration-inequalities Yes
:continuous-effects Yes
:negative-preconditions No
PDDL 2.2  
:derived-predicates No
:timed-initial-literals Yes
PDDL 3  
:constraints No
:preferences No
PDDL 3.1  
:action-costs No
:goal-utilities No
PDDL+  
:time No

Downloading and Compiling POPF

POPF’s main KCL Planning page provides more detail about the POPF Planner and where the source code can be found.

Additional Notes

POPF only supports linear continuous effects