UCPOP: A Sound, Complete, Partial Order Planner for ADL

We describe the ucpop partial order planning algorithm which handles a subset of Pednault's ADL action representation. In particular, ucpop operates with actions that have conditional eects, universally quantied preconditions and eects, and with universally quantied goals. We prove ucpop is both sound and complete for this representation and describe a practical implementation that succeeds on all of Pednault's and McDermott's examples, including the infamous \Yale Stacking Problem" [McDermott 1991].

• Type: Conference
• Year: 1992
• Where: KR
• Authors: J. Scott Penberthy, Daniel S. Weld
• Keywords: Automated Reasoning, KR 1992, Pednault's ADL Action, Quanti Ed Preconditions, Ucpop Partial Order