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The UCPOP Planner
Note: UCPOP is an aging system - we recommend Sensory Graphplan (SGP) instead. SGP handles a superset of UCPOP functionality and is much, much faster.
Common Lisp source code for the UCPOP partial order planner, version 4.1, is available via anonymous FTP. UCPOP operates with actions that have conditional effects and universally quantified preconditions and effects. It accepts universally quantified goals. In addition, UCPOP 4.1 allows domain axioms and predicates that call Common Lisp code to determine satisfiability. With a conservative search strategy UCPOP is both sound and complete for this representation, but one can add aggressive, domain-dependent search control with convenient declarative rules. Our Common Lisp implementation is simple enough for classroom use, yet quite efficient (requiring between 2-20ms to explore and refine a partial plan).
Version 4.1 replaces and subsumes version 2.0. Highlights include:
This builds on the features introduced in version 2.0:
This work was first presented at KR-92:
Penberthy, J. S. and Weld, D., ``UCPOP: A Sound, Complete, Partial-Order Planner for ADL,'' Third International Conference on Knowledge Representation and Reasoning (KR-92), Cambridge, MA, October 1992.
An experimental implementation of UCPOP 2.0 in C++ is also available. It is about an order of magnitude faster than the Lisp implementation but it doesn't have all the extensions. Please be aware that
Computer Science & Engineering|
University of Washington
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