Planner9

Planner9 is an open-source distributed HTN task planner developed by Stéphane Magnenat and Martin Voelkle.

To know more about it, read the associated paper.

Compilation

Planner9 uses CMake. It requires the libboost and libboost-thread libraries, and, for the distributed version, Qt4.

Test it

You can run a test program, implementing the example of the paper, with:

programs/p9simple

You can see the threaded version of the planner in action with:

programs/p9threaded

The distributed version example is not documented yet.