LPRPG

About LPRPG

LPRPG is a heuristic forward search planner that uses similar techniques to FF and Metric-FF. The key difference lies in its handling of numbers. The numeric effects of actions are translated into constraints in a linear program during the construction of the reachability graph. This allows LPRPG to combine the relaxation reasoning for propositional parts of the planning problem with a linear program solution of the numeric parts. The result is a more effective guide when domains involve complex metric behaviour, particularly where resources flow around the domain or are exchanged for one another.

An extensive paper describing LPRPG can be found here: "A Hybrid Relaxed Planning Graph-LP Heuristic for Numeric Planning Domains." A. I. Coles, M. Fox, D. Long, and A. J. Smith. Proceedings of the Eighteenth International Conference on Automated Planning and Scheduling (ICAPS 08). September 2008. Please refer to this paper if you use the LPRPG system.

Download

You are welcome to download LPRPG from Sourceforge, here. Please let us know if you try it out and send us comments (including bug reports)!