| LPG (Local search for Planning Graphs) | Metric-FF
(Metric Fast Forward) |
|
| Description |
a planner based on local search and planning graphs | a forward chaining heuristic state space planner |
| Domain |
handles PDDL2.1 domains involving numerical quantities and durations | deals with PDDL 2.1 level 2, combined with ADL |
| Algorithm |
best-first algorithm | enforced hill climbing, relaxed graphplan heuristic, best-first |
| Result of Test1 |
0.000: (GOTO
STARTPLACE REGISTRATION) [D:1.000; C:1.000] 1.000: (REGISTER REGISTRATION) [D:1.000; C:1.000] 2.000: (GOTO REGISTRATION FRONTROOM_1) [D:1.000; C:1.000] 3.000: (GOTO FRONTROOM_1 FRONTROOM_2) [D:1.000; C:1.000] 4.000: (GOTO FRONTROOM_2 STANDROOM_2) [D:1.000; C:1.000] 5.000: (MAKE-PRESENTATION STANDROOM_2 PRESSESSION1) [D:1.000; C:1.000] Total time: 0.31 |
0: GOTO STARTPLACE REGISTRATION 1: REGISTER REGISTRATION 2: GOTO REGISTRATION FRONTROOM_1 3: GOTO FRONTROOM_1 FRONTROOM_2 4: GOTO FRONTROOM_2 STANDROOM_2 5: WAIT-PRES-SESSION PRESSESSION1 6: MAKE-PRESENTATION STANDROOM_2 PRESSESSION1 Total time: 0.74 |
| Result of Test1_nav |
0.000: (GOTO
STARTPLACE REGISTRATION) [D:1.000; C:1.000] 1.000: (REGISTER REGISTRATION) [D:1.000; C:1.000] 2.000: (GOTO REGISTRATION STARTPLACE) [D:1.000; C:1.000] 3.000: (GOTO STARTPLACE STANDROOM_2) [D:1.000; C:1.000] 4.000: (MAKE-PRESENTATION STANDROOM_2 PRESSESSION1) [D:1.000; C:1.000] Total time: 1.67 |
0: GOTO STARTPLACE
REGISTRATION 1: REGISTER REGISTRATION 2: GOTO REGISTRATION STANDROOM_2 3: WAIT-PRES-SESSION PRESSESSION1 4: MAKE-PRESENTATION STANDROOM_2 PRESSESSION1 Total time: 0.68 |
| Result of Test2 |
0.000: (GOTO
STARTPLACE REGISTRATION) [D:1.000; C:1.000] 1.000: (REGISTER REGISTRATION) [D:1.000; C:1.000] 2.000: (GOTO REGISTRATION FRONTROOM_1) [D:1.000; C:1.000] 3.000: (GOTO FRONTROOM_1 STANDROOM_1) [D:1.000; C:1.000] 4.000: (MAKE-PRESENTATION STANDROOM_1 PRESSESSION0) [D:1.000; C:1.000] 5.000: (GOTO STANDROOM_1 FRONTROOM_1) [D:1.000; C:1.000] 6.000: (GOTO FRONTROOM_1 FRONTROOM_2) [D:1.000; C:1.000] 7.000: (GOTO FRONTROOM_2 FRONTROOM_3) [D:1.000; C:1.000] 8.000: (GOTO FRONTROOM_3 SEATSROOM_3) [D:1.000; C:1.000] 9.000: (ASSIST-PRESENTATION SEATSROOM_3 PRESSESSION1) [D:1.000; C:1.000] 10.000: (GOTO SEATSROOM_3 FRONTROOM_3) [D:1.000; C:1.000] 11.000: (GOTO FRONTROOM_3 FRONTROOM_2) [D:1.000; C:1.000] 12.000: (GOTO FRONTROOM_2 FRONTROOM_1) [D:1.000; C:1.000] 13.000: (GOTO FRONTROOM_1 SEATSROOM_1) [D:1.000; C:1.000] 14.000: (ASSIST-PRESENTATION SEATSROOM_1 PRESSESSION5) [D:1.000; C:1.000] Total time: 0.38 |
0: GOTO STARTPLACE
REGISTRATION 1: REGISTER REGISTRATION 2: GOTO REGISTRATION FRONTROOM_1 3: GOTO FRONTROOM_1 STANDROOM_1 4: WAIT-PRES-SESSION PRESSESSION0 5: MAKE-PRESENTATION STANDROOM_1 PRESSESSION0 6: GOTO STANDROOM_1 FRONTROOM_1 7: GOTO FRONTROOM_1 FRONTROOM_2 8: GOTO FRONTROOM_2 FRONTROOM_3 9: GOTO FRONTROOM_3 SEATSROOM_3 10: WAIT-PRES-SESSION PRESSESSION1 11: ASSIST-PRESENTATION SEATSROOM_3 PRESSESSION1 12: GOTO SEATSROOM_3 FRONTROOM_3 13: GOTO FRONTROOM_3 FRONTROOM_2 14: GOTO FRONTROOM_2 FRONTROOM_1 15: GOTO FRONTROOM_1 SEATSROOM_1 16: WAIT-PRES-SESSION PRESSESSION5 17: ASSIST-PRESENTATION SEATSROOM_1 PRESSESSION5 Total time: 3.44 |
| Result of Test2_nav |
0.000: (GOTO
STARTPLACE REGISTRATION) [D:1.000; C:1.000] 1.000: (REGISTER REGISTRATION) [D:1.000; C:1.000] 2.000: (GOTO REGISTRATION STANDROOM_1) [D:1.000; C:1.000] 3.000: (MAKE-PRESENTATION STANDROOM_1 PRESSESSION0) [D:1.000; C:1.000] 4.000: (GOTO STANDROOM_1 SEATSROOM_3) [D:1.000; C:1.000] 5.000: (ASSIST-PRESENTATION SEATSROOM_3 PRESSESSION1) [D:1.000; C:1.000] 6.000: (GOTO SEATSROOM_3 SEATSROOM_1) [D:1.000; C:1.000] 7.000: (ASSIST-PRESENTATION SEATSROOM_1 PRESSESSION5) [D:1.000; C:1.000] Total time: 2.20 |
0: GOTO STARTPLACE
REGISTRATION 1: REGISTER REGISTRATION 2: GOTO REGISTRATION STANDROOM_1 3: WAIT-PRES-SESSION PRESSESSION0 4: MAKE-PRESENTATION STANDROOM_1 PRESSESSION0 5: GOTO STANDROOM_1 SEATSROOM_3 6: WAIT-PRES-SESSION PRESSESSION1 7: ASSIST-PRESENTATION SEATSROOM_3 PRESSESSION1 8: GOTO SEATSROOM_3 SEATSROOM_1 9: WAIT-PRES-SESSION PRESSESSION5 10: ASSIST-PRESENTATION SEATSROOM_1 PRESSESSION5 Total time: 11.89 |
| Result for Tests 3 |
not solvable LPG complain about : Generation of neighborhood for EQUAL_OP not yet implemented |
0: GOTO STARTPLACE REGISTRATION 1: REGISTER REGISTRATION 2: GOTO REGISTRATION STANDROOM_2 3: WAIT-PRES-SESSION PRESSESSION0 4: MAKE-PRESENTATION STANDROOM_2 PRESSESSION0 5: GOTO STANDROOM_2 SEATSROOM_1 6: WAIT-PRES-SESSION PRESSESSION1 7: ASSIST-PRESENTATION SEATSROOM_1 PRESSESSION1 8: WAIT-POST-SESSION POSTERSESSION0 9: ASSIST-PRESENTATION SEATSROOM_1 PRESSESSION2 10: GOTO SEATSROOM_1 P3 11: WAIT-POST-SESSION POSTERSESSION1 12: FIX-POSTER P3 POSTERSESSION1 13: GOTO P3 P10 14: WAIT-PRES-SESSION PRESSESSION6 15: TAKE-PICTURE-POSTER P10 POSTERSESSION1 16: GOTO P10 P3 17: REMOVE-POSTER P3 POSTERSESSION1 Total time : 28.16 |
| Tests #4 and #5 |
not solvable | not solvable |