CMU Artificial Intelligence Repository
UCPOP: Partial Order Planner
This directory contains UCPOP, 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.
UCPOP operates with actions that have conditional effects, universally
quantified preconditions and effects, and accepts universally
quantified goals, in addition to disjunction, negation, and
existential quantification. With a conservative search strategy
UCPOP is both sound and complete for this representation.
The Common Lisp implementation is quite efficient requiring between
5-50ms to explore and refine a partial plan. In particular, UCPOP is
as fast as or faster than SNLP in comparable domains. (UCPOP is upward
compatible with SNLP.) Instructors interested in using UCPOP in a
classroom setting will be happy to note that the UCPOP code is
exceptionally clean and only slightly larger than SNLP. It also has a
CLIM-based graphical plan-space browser, a user's manual, and a
large set of domain theories and search functions for testing.
as the files ucpop.tar.Z, ucpop2.tar.Z, ucpop-kr92.ps.Z
Version: 2.0 (5-OCT-93); 1.00a (10-NOV-92)
Requires: Common Lisp
Copying: Copyright (c) 1992-93 University of Washington
Use, copying, and distribution permitted for
non-commercial research purposes.
If you use this software, please send a mail message to
CD-ROM: Prime Time Freeware for AI, Issue 1-1
Bug Reports: firstname.lastname@example.org
Author(s): J. Scott Penberthy, Stephen Soderland, Tony Barret, and
Authors!Barret, Authors!Penberthy, Authors!Soderland,
Authors!Weld, Conditional Effects, Lisp!Code,
Partial Order Planning, Planning, UCPOP,
Includes a manual and other documentation.
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.
[Describes the UCPOP partial order planner: basic algorithm, proofs of
soundness and completeness, etc.]
Last Web update on Mon Feb 13 10:27:17 1995