International Planning Competition 2014

Deterministic part

Competition Domains

This page contains the description of the competition domains for the temporal satisficing track.

Domain Features Origin
Driverlog typing, durative-actions IPC-3
Floortile typing, durative-actions IPC-7
Map-Analyser typing, durative-actions New
Matchcellar typing, durative-actions IPC-7
Parking typing, durative-actions IPC-6
RTAM typing, durative-actions New
Satellite typing, durative-actions IPC-3
Storage typing, durative-actions IPC-6
Temporal Machine Shop typing, durative-actions IPC-7
Turn and Open typing, durative-actions IPC-7


From the original domain description (here). This domain has drivers that can walk between locations and trucks that can drive between locations. Walking requires traversal of different paths from those used for driving, and there is always one intermediate location on a footpath between two road junctions. The trucks can be loaded or unloaded with packages (with or without a driver present) and the objective is to transport packages between locations, ending up with a subset of the packages, the trucks and the drivers at specified destinations.


From the original domain description (here). A set of robots use different colors to paint patterns in floor tiles. The robots can move around the floor tiles in four directions (up, down, left and right). Robots paint with one color at a time, but can change their spray guns to any available color. However, robots can only paint the tile that is in front (up) and behind (down) them, and once a tile has been painted no robot can stand on it.
For the IPC set, robots need to paint a grid with black and white, where the cell color is alternated always. This particular configuration makes the domain hard because robots should only paint tiles in front of them, since painting tiles behind make the search to reach a dead-end.


Authors: Mauro Vallati, Lukas Chrpa.
A temporal version of the CityCar domain. In this domain cars have different speed, and the time needed for building or removing roads depend on their length.


From the original domain description (here). This is a STRIPS version of the domain proposed by Bharat Ranjan Kavuluri. Domain is inspired in this paper. The main feature of this domain is that a lighted match is concurrently required to fix a fuse.


This domain is a temporal version of the domain created for the learning part of IPC2008. This domain involves parking cars on a street with N curb locations, and where cars can be double-parked but not triple-parked. The goal is to find a plan to move from one configuration of parked cars to another configuration, by driving cars from one curb location to another.


Authors: Shahin Shah, Lukas Chrpa, Diane Kitchin, Lee McCluskey, Mauro Vallati.
The Road Traffic Accident Management domain model is described in this paper.


This is the temporal version of the well-known Satellite domain. Domain description can be found here.


Corresponds to the "time version" from the IPC-2006 domain where actions have duration and the plan quality is total-time (plan makespan). This domain deals with moving a certain number of crates from some containers to some depots by hoists. Inside a depot, each hoist can move according to a specified spatial map connecting different areas of the depot. The test problems for this domain involve different numbers of depots, hoists, crates, containers, and depot areas. The domain has five different actions: an action for lifting a crate by a hoist, an action for dropping a crate by a hoist, an action for moving a hoist into a depot, an action for moving a hoist from one area of a depot to another one, and finally an action for moving a hoist outside a depot.

Temporal Machine Shop

From the original domain description (here). The "tms-k-t-p" domain (temporal machine shop, first proposed in [Cushing et al., ICAPS-07]) is inspired by a real-world application. It concerns the use of k kilns, each with different baking times, to bake p ceramic pieces (bake-ceramic) of t different types. Each of these types requires a different baking time. These ceramics can then be assembled to produce different structures (make-structure). The resulting structures can then be baked again to obtain a bigger structure (bake-structure). We have defined too a "light" version of these domain for temporally-expressive planners which do not support richer durative actions (that is with time intervals).
All possible solutions require concurrency of actions (temporally expressive problem).

Turn and Open

From the original domain description (here). In this domain there are a number of robots, with two gripper hands, and a set of rooms containing balls. The goal is to find a plan to transport balls from a given room to another. There are doors that must be open to move from one room to another. In order to open a given door the robot must turn the doorknob and open the door at the same time.