UCPOP User's Manual

The ucpop partial order planning algorithm handles a subset of the KRSL action representation [1] that corresponds roughly with Pednault's ADL language [12] and prodigy's PDL language [10]. In particular, ucpop operates with actions de ned using conditionals and nested quanti cation. This manual describes a Common Lisp implementation of ucpop, explains how to set up and run the planner, details the action representations syntax, and outlines the main data structures and how they are manipulated. Features include: Universal quanti cation over dynamic universes (i.e., object creation and destruction), Domain axioms over strati ed theories, \Facts" i.e. predicates expanding to lisp code, Speci cation of safety constraints in domain de nition, Advanced CLIM-based graphic plan-space browser with multiple views, Declarative speci cation of search control rules, Large set of domain theories & search functions for testing, Expanded users manual and tutorial introductions.