edoardobarba / automated_planning_project

Use PDDL to model an emergency services logistics problem and solve it using different planners.

Automated_Planning_project

This repository is a student project developed by Edoardo Barba and Mostafa Haggag for the "Automated Planning: Theory and Practical" course of the Master in Artificial Intelligent Systems at the University of Trento, a.y. 2022-2023.

Format

In this section we describe how the files are organised for the repository. Please find the tree below.

Automated_Planning_project/
├── assignment.pdf
├── plansys2_problem5
│   ├── CMakeLists.txt
│   ├── launch
│   │   ├── example_1
│   │   ├── example_2
│   │   └── plansys2_problem5_launch.py
│   ├── package.xml
│   ├── pddl
│   │   └── domain4.pddl
│   └── src
│       ├── load_box_action_node.cpp
│       ├── move_robot_action_node.cpp
│       ├── pickdown_food_action_node.cpp
│       ├── pickdown_medicine_action_node.cpp
│       ├── pickdown_tool_action_node.cpp
│       ├── pick_item_from_box_action_node.cpp
│       ├── pick_up_item_from_location_action_node.cpp
│       ├── put_item_in_box_action_node.cpp
│       └── unload_box_action_node.cpp
├── problem1
│   ├── domain1.pddl
│   ├── problem1_instance1.pddl
│   ├── problem1_instance1_results.md
│   ├── problem1_instance2.pddl
│   ├── problem1_instance2_results.md
├── problem2
│   ├── domain2.pddl
│   ├── problem2_instance1.pddl
│   ├── problem2_instance1_results.md
│   ├── problem2_instance2.pddl
│   └── problem2_instance2_results.md
├── problem3
│   ├── domain3.hddl
│   ├── example_1.hddl
│   ├── example_1.txt
│   ├── example_1_unor.hddl
│   ├── example_1_unor.txt
│   ├── example_2.hddl
│   ├── example_2.txt
│   ├── example_2_unor.hddl
│   └── example_2_unor.txt
├── problem4
│   ├── domain4.pddl
│   ├── example_1_p1.txt
│   ├── example_1_p2.txt
│   ├── example_1_p3.txt
│   ├── example_1.pddl
│   ├── example_2_p1.txt
│   ├── example_2_p2.txt
│   ├── example_2_p3.txt
│   └── example_2.pddl
├── README.md
└── report.pdf

8 directories, 47 files

Problem 1 Commands

Instance 1

• We used planutils and downward.

planutils run ff domain1.pddl problem1_instance1.pddl 
planutils run lama domain1.pddl problem1_instance1.pddl 
planutils run lama-first domain1.pddl problem1_instance1.pddl 
./DOWNWARD/fast-downward.py /domain1.pddl /problem1_instance1.pddl --search "astar(goalcount)"

Instance 2

• Put the planner DOWNWARD in the directory of problem 1.
• Run these commands.

planutils run ff domain1.pddl problem1_instance2.pddl 
planutils run lama domain1.pddl problem1_instance2.pddl 
planutils run lama-first domain1.pddl problem1_instance2.pddl 
./DOWNWARD/fast-downward.py /domain1.pddl /problem1_instance2.pddl --search "astar(goalcount)"

Problem 2 Commands

• Put the planner ENHSP in the directory of problem 1.
• Run these commands.

Instance 1

java -jar ../ENHSP-Public-enhsp-20/enhsp-dist/enhsp.jar -o domain2.pddl -f problem2_instance1.pddl -planner sat-hadd
java -jar ../ENHSP-Public-enhsp-20/enhsp-dist/enhsp.jar -o domain2.pddl -f problem2_instance1.pddl -planner opt-blind
java -jar ../ENHSP-Public-enhsp-20/enhsp-dist/enhsp.jar -o domain2.pddl -f problem2_instance1.pddl -planner opt-hmax

Instance 2

java -jar ../ENHSP-Public-enhsp-20/enhsp-dist/enhsp.jar -o domain2.pddl -f problem2_instance2.pddl -planner sat-hadd
java -jar ../ENHSP-Public-enhsp-20/enhsp-dist/enhsp.jar -o domain2.pddl -f problem2_instance2.pddl -planner opt-blind
java -jar ../ENHSP-Public-enhsp-20/enhsp-dist/enhsp.jar -o domain2.pddl -f problem2_instance2.pddl -planner opt-hmax

Problem 3 Commands

• Put the planner PANADAS in the directory of problem 3.
• Run these commands.

java -jar PANDA.jar -parser hddl domain3.hddl example_1.hddl 
java -jar PANDA.jar -parser hddl domain3.hddl example_1_unor.hddl
java -jar PANDA.jar -parser hddl domain3.hddl example_2.hddl 
java -jar PANDA.jar -parser hddl domain3.hddl example_2_unor.hddl 

Problem 4 Commands

Command 1

planutils run optic "-N  domain4.pddl example_1.pddl" >> example_1_p1.txt
planutils run optic "-N  domain4.pddl example_2.pddl" >> example_2_p1.txt

Command 2

planutils run optic "-N -W1,1 domain4.pddl example_1.pddl" >> example_1_p2.txt
planutils run optic "-N -W1,1 domain4.pddl example_2.pddl" >> example_2_p2.txt

Command 3

planutils run optic "-N -E -W1,1 domain4.pddl example_1.pddl" >> example_1_p3.txt
planutils run optic "-N -E -W1,1 domain4.pddl example_2.pddl" >> example_2_p3.txt

Problem 5 Commands

• Open 2 terminals
• Change the directory /Automated_Planning_project/plansys2_problem5 in both of them.
• Run the following commands to source plansys2 and ros2 and build the problem 5 package:

source /opt/ros/humble/setup.bash
source plansys2_ws/install/setup.bash
colcon build --packages-select plansys2_problem5
source install/setup.bash

• Run in the first terminal this command to run the Python node:

ros2 launch plansys2_problem5 plansys2_problem5_launch.py

• Run in the second terminal this command to run Plansys2 terminal

ros2 run plansys2_terminal plansys2_terminal

• In plansys2 terminal, run the following commands to run example 1:

source launch/example_1
get plan
run

• In plansys2 terminal, run the following commands to run example 2:

source launch/example_2
get plan
run