Resumen
NextFLAP (Numeric EXpressions in TFLAP) is a heuristic forward partial-order planner, built on top
of TFLAP¿ temporal
planner. NextFLAP supports most of the temporal and numeric features that can be modelled in PDDL
2.l (except continuous effects), plus the Time lnitial Literals of PDDL2.2 and actions with control
parameters². This planner manages to achieve this level of expressiveness, including non-linear
numeric expressions, thanks to its integration with an SMT (Satisfiability Modulo Theories) solver
to deal with numerical constraints. Particularly, we use the Z3 Theorem Prover³. Our goal is to
integrate this new planning engine as a service within the Unified Planning Framework to offer the
users a tool to solve complex problems with a strong temporal and numeric component. We would also
like to add a new feature to the framework, the control parameters, which are very interesting for
modeling physical
quantities (battery levels, speeds, object sizes, etc.).
