Spiderplan Unified Planning Interface
A constraint-based planning engine for unified planning.
Spiderplan is a constraint-based automated planner based on flaw resolution. As a baseline it includes support for solving goals, temporal constraints, reusable resources, general constraint processing, and interaction constraints for human-aware planning. One of the main features of Spiderplan is that it can be extended with new types of constraints. One such extension is the integration with motion planning through the coordination_oru framework.
The AIPlan4EU project developed a Unified Planning (UP) library to simplify the use and interfacing of various kinds of planning techniques. This asset encompasses the code needed to connect the Spiderplan planner with the UP, thus using Spiderplan as one of the possible solution engines.
Spiderplan is a constraint-based planner based on flaw resolution search. It supports hybrid task and motion planning by integrating constraints of various types into a single search space. In case of up-spiderplan, motion planning is integrated as propagation to ensure that a path exists for operators that include motion constraints.
Operation Modes
- OneshotPlanning
Problem Kinds
- Classical Planning
- Motion Planning
Installation
The library can be easily installed as follows.
python3 -m pip install up-spiderplan
Try it yourself!
Instructions on how to run a simple test can be found here.