Graphplan

Implementation of the Graphplan planning algorithm and Plangraph data structure written in Rust.

Original paper: Fast Planning Through Planning Graph Analysis by Avrim L. Blum and Merrick L. Furst

Usage

You can load a domain from a toml file (see the resources/example.toml directory for expected format) and instantiate a GraphPlan.

Example:

#[macro_use] extern crate graphplan;
use graphplan::GraphPlan;
use graphplan::solver::SimpleSolver;
use graphplan::plangraph::PlanGraph;

fn main() -> () {
    let path = String::from("resources/rocket_domain.toml");
    let mut pg: GraphPlan<SimpleSolver> = GraphPlan::from_toml(path);
    println!("Result: {:?}", PlanGraph::format_plan(pg.search()));
}

The lower level API allows you to constructing your own problem domain programmatically. You can also implement your own solver by implementing the GraphPlanSolver trait.

Example:

#[macro_use] extern crate graphplan;
use graphplan::GraphPlan;
use graphplan::proposition::Proposition;
use graphplan::action::Action;
use graphplan::solver::SimpleSolver;

fn main() -> () {
    let p1 = Proposition::from_str("tired");
    let not_p1 = p1.negate();

    let p2 = Proposition::from_str("dog needs to pee");
    let not_p2 = p2.negate();

    let p3 = Proposition::from_str("caffeinated");

    let a1 = Action::new(
        String::from("coffee"),
        hashset!{&p1},
        hashset!{&p3, &not_p1}
    );

    let a2 = Action::new(
        String::from("walk dog"),
        hashset!{&p2, &p3},
        hashset!{&not_p2},
    );

    let mut pg = GraphPlan::new(
        hashset!{&p1, &p2},
        hashset!{&not_p1, &not_p2, &p3},
        hashset!{&a1, &a2},
        SimpleSolver::new()
    );
    println!("Result: {:?}", PlanGraph::format_plan(pg.search());
}

Running benchmarks

Benchmarks using criterion can be found in the benches directory. To run them:

cargo bench
open target/criterion/report/index.html

Running the wasm demo

This crate ships with a demo of running graphplan in the browser via wasm. To run it you will need to install the cargo-web plugin.

cargo web --features="demo"
open localhost:8000

Then in the js console, the method graphplan.run will take a toml formatted string (see resources/example.toml) and return a plan if there is one.

License

Copyright (c) Alex Kehayias. All rights reserved. The use and distribution terms for this software are covered by the Eclipse Public License 1.0 (http://opensource.org/licenses/eclipse-1.0.php). By using this software in any fashion, you are agreeing to be bound by the terms of this license. You must not remove this notice, or any other, from this software.