These files contain the code for the planner UCPOP.  UCPOP is a domain
independent, partial order planner that handles an expressive action
representation (conditional effects, universally quantified effects, and
universally quantified preconditions and goals).  UCPOP is both complete and
sound. The algorithm is described in:

  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.  

The file kr92-ucpop.ps contains a postscript version of this paper.

See the files domains.lisp for examples and manual.ps for instructions.