Available Engines

The tables below give a high-level overview of the planning engines integrated with the UP.

The characterization of the planning systems is deliberately kept very broad and is mainly intended to help identify which planners are relevant for a given class of problem. We redirect you to the specific documentation of each planner for a more in depth characterization of their features and limitations.

In this page only appear solvers that are officially integrated in the unified planning library, for which we have reasonable confidence that they will not give you incorrect results (i.e. they successfully pass all engine tests), now and in the future (i.e. they have a clearly identified maintainer). We do mention some solvers whose integration is partial, but that may be nevertheless of interest in some special cases.

Action-Based Planning

Engine	Operation modes	Classical	Numeric	Temporal	Metrics
Fast-Downward	OneShot, Anytime	Y			plan length, action costs
ENHSP	OneShot, Anytime	Y	Y		action costs, final value
Tamer	OneShot	Y	Y	Y
LPG	OneShot, Repair, Anytime	Y	Y	Y	plan length, makespan, action costs
Aries [1]	OneShot, Anytime	Y	Y (integers)	Y	plan length, makespan, action costs
Pyperplan [2]	OneShot	Y

[1]

Aries’ focus is on hierarchical planning and scheduling and is likely not competitive with other planners in action-based planning.

[2]

Pyperplan is mostly intended for education purposes and cannot be expected to scale to non-trivial problems.

Plan Validation

Engine	Action-Based planning	Numeric	Temporal	Hierarchical	Scheduling	Multi-Agent
UP (builtin)	Y	Y
Tamer	Y	Y	Y
Aries	Y	Y	Y	Y	Y
MA-Plan-Validator	Y					Y

Hierarchical Planning

Engine	Operation modes	Total-Order	Partial-Order	Numeric	Temporal	Metrics
Aries	OneShot, Anytime	Y	Y (integers)	Y	Y	plan length, makespan, action costs

A WIP integration is known for SIADEX.

Scheduling

The only planner with full support for scheduling is Aries. Integration work is known for the discrete-optimization suite and for PPS.

Multi-Agent Planning

Engine	Operation modes	Classical	Partial-Order
fmap	OneShot	Y	Y

Task and Motion Planning

Support for task and motion planning is currently provided by the Spiderplan engine.