contingent

CLG Planner

by Alexandre Albore, Hector Palacios, Hector Geffner.

In the current directory are present the following files:

• cf2cs: Translator from Contingent Problem P to X(P) and X+(P)
• clg: Closed Loop Greedy Planner
• run-clg.sh: Script to run both the translator and the planner
• docs: CLG paper
• CLG_benchmarks: PDDLs
• test: an exampe

The script is easy to use and to modify.

Syntax:

run-clg.sh -0/1 {-q N} domain.pddl problem.pddl
  -0   off-line mode
  -1   on-line mode
  -q   sensing probability, an int between 0--100 (on-line mode only)

NB: -q is an optional parameter for on-line mode. When performing a set of tests it is good to change it from different values between 0 and 100. It indicates the probability to take the first option in a (boolean) sensing action.

Running an example

Off-line mode, i.e. generating the full plan

./run-clg.sh -1 test/d.pddl test/p.pddl

On-line mode, i.e. generating a single execution

./run-clg.sh -0 test/d.pddl test/p.pddl

On-line mode with even probability on branching

./run-clg.sh -0 -q 50 test/d.pddl test/p.pddl

NB: Domain and problem description have to be in the binaries directory. Otherwise change the path for CLG option -p into the script.

Please, let me know any problem or suggestion.

Hector Palacios, [email protected], https://www.hectorpalacios.net