INTEGRATION OF THE NEXTFLAP PLANNER IN THE UNIFIED PLANNING FRAMEWORK

2023

COMISION DE LAS COMUNIDADES EUROPEA

I+D COLAB. COMPETITIVA

Sapena Vercher Oscar

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.).