SMTPlan+
Page Contributors: Adam Green,
Year Published: 2016
Paper: A Compilation of the Full PDDL+ Language into SMT [Cashmore, M. Fox, M. Long, D. Magazzeni, D.]
SMTPlan+ is a planner for hybrid systems.
It supports all the features of PDDL+, including exogenous events and continuous processes.
SMTPlan+ provides an SMT encoding of the PDDL+ models and can handle linear domains as well as domains with nonlinear polynomial change.
Support
SMTPlan+ Supports the following features according to Eviscerator:
| Requirement | Supported? |
|---|---|
| PDDL 1.2 | |
| :strips | Yes |
| :typing | Yes |
| :disjunctive-preconditions | Yes |
| :equality | Yes |
| :existential-preconditions | Yes |
| :universal-preconditions | Yes |
| :conditional-effects | Not Tested |
| :domain-axioms | No |
| :subgoals-through-axioms | No |
| :safety-constraints | No |
| :open-world | No |
| :quantified-preconditions | Yes |
| :adl | Not Tested |
| :ucpop | Not Tested |
| PDDL 2.1 | |
| :numeric-fluents | Yes |
| :durative-actions | Yes |
| :duration-inequalities | Yes |
| :continuous-effects | Yes |
| :negative-preconditions | Yes |
| PDDL 2.2 | |
| :derived-predicates | Not Tested |
| :timed-initial-literals | Yes |
| PDDL 3.0 | |
| :constraints | No |
| :preferences | No |
| PDDL 3.1 | |
| :action-costs | Yes |
| :goal-utilities | No |
| PDDL+ | |
| :time | Yes |
Downloading and compiling SMTPlan+
SMTPlan+ has one of the more modern and more comprehensive set of documentation for it. The GitHub repo for SMTPlan+ can be found here. Documentation on SMTPlan+ can be found on its GitHub pages website. Additional instructions for compilation can also be found here
Additional Notes
SMTPlan+ supports polynomial continuous effects, and linear continuous effects,