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More Background Information

We've put together a website with the history of all planning systems of the PANDA family, links to all relevant software projects, and further background information including pointers explaining the techniques deployed by the respective systems.

PANDA Planning and Acting in a Network Decomposition Architecture

PANDA is a planning architecture consisting of various components for planning and acting in a hierarchical planning framework.

It contains different planning systems (capable of solving different kinds of planning problems, including both hierarchical and non-hierarchical problems), components used for the verification of plans (is the given plan a solution to the given planning problem?), as well as more practice-oriented components, such as for plan explanations (answering questions like "why should I perform this action?"), or plan repair (finding new solutions if execution errors arise).

At the moment, not all these components are delivered, yet. More precisely, our components for plan explanation, plan repair, and our SAT-based HTN planner PANDA-totSAT are not yet delivered -- but they will be soon.

Call PANDA.jar with -help to get detailed information and instructions.


Copyright (C) 2014-2018 Gregor Behnke (
Copyright (C) 2014 Thomas Geier
Copyright (C) 2015-2018 Daniel Höller (
Copyright (C) 2015 Kadir Dede
Copyright (C) 2016-2018 Kristof Mickeleit
Copyright (C) 2016 Matthias Englert
Copyright (C) 2017-2018 Pascal Bercher ( Copyright (C) 2017-2018 Mario Schmautz

it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see

Building PANDA

To obtain an executable jar of PANDA, you need an installation of the simple build tool (version 0.13.9 or higher). You further need antLR4.

To compile PANDA, you first need to generate the parser files for HDDL. You can do so by executing the following command in the planner's root folder:

antlr4 src/main/java/de/uniulm/ki/panda3/symbolic/parser/hddl/antlrHDDL.g4 -package

Next you need to run

sbt main/assembly

in a command line. Please note that, currently (date: January, 8th, 2018), sbt produces a runtime error when building PANDA in combination with JRE 9. We thus recommend to use version 8.

The second-last line of the commands output will tell you where sbt has put the jar file.