some refactoring
This commit is contained in:
mgebser
parent
18f4a87dd7
commit
59e95c7097
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@ -5,21 +5,26 @@ The included encoding files provide the following functionalities:
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## Encodings
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### [incmode.lp](incmode.lp): include built-in “iclingo“ script for incremental grounding and solving
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### [preprocess.lp](preprocess.lp): static analysis of potentially relevant actions
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* Parameters: `_closure` (default value: `3`)
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* Parameter: `_closure` (default value: `3`)
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* Value `1`: forward chaining of effects w.r.t. initial variable values
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* Value `2`: backward regression of effects w.r.t. goal variable values
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* Value `3`: both forward chaining and backward regression of effects
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* Otherwise: off (simply take all actions as given)
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### [strips-incremental.lp](strips-incremental.lp): sequential and parallel planning encoding variants
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* Parameters: `_parallel` (default value: `0`)
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* Parameter: `_parallel` (default value: `0`)
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* Value `1`: “forall” parallel actions that can be arranged in any sequence
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* Value `2`: “exists” parallel actions that can be arranged in some sequence
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* Value `3`: “exists“ parallel actions omitting achievement of preconditions
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* Value `4`: “exists“ parallel actions like `3` implemented by acyclicity
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* Otherwise: sequential actions
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* Parameter: `planner_on` (default value: `0`)
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* Value `0`: no compatibility to ASP-based planner (no idle steps permitted)
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* Otherwise: compatibility to ASP-based planner (idle steps permitted)
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### [redundancy.lp](redundancy.lp): enforcement of ‘redundant’ actions to constrain parallel plans
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* Remarks:
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@ -34,35 +39,35 @@ The included encoding files provide the following functionalities:
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Some example invocations (using `clingo` 5.1.0) are as follows:
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```bash
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _closure=0
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _closure=0
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _closure=1
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _closure=1
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _closure=2
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _closure=2
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=1
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=1
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=2
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=2
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=3
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=3
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=4
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=4
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=1 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=1 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=2 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=2 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp -c _parallel=3 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp -c _parallel=3 redundancy.lp
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp --outf=1 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 -c _parallel=1 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp --outf=1 -c _parallel=1 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 -c _parallel=2 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp --outf=1 -c _parallel=2 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 -c _parallel=3 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp --outf=1 -c _parallel=3 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - preprocess.lp strips-incremental.lp --outf=1 -c _parallel=4 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl | clingo - incmode.lp preprocess.lp strips-incremental.lp --outf=1 -c _parallel=4 | grep -A1 -e "ANSWER" | tail -n1 | clingo - postprocess.lp <(plasp ../../instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl ../../instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl)
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```
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@ -0,0 +1,3 @@
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% Include built-in "iclingo" script for incremental grounding and solving
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#include <incmode>.
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@ -3,43 +3,42 @@
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% BASE PROGRAM
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selfdefeat(A) :- _parallel = 1, active(A), precondition(A,X,V), has_condition(A,X,1),
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not postcondition(A,X,V).
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forall(A) :- _parallel = 1, active(A), not selfdefeat(A).
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selfdefeat(A) :- selfdefeat(A,X).
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disjoin(A,A1) :- active(A), has_condition(A,X,P), selfdefeat(A1,X), not selfdefeat(A).
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compatible(A,A1) :- active(A), active(A1), A != A1, 1 < _parallel, _parallel < 4,
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not diverge(A,A1), not diverge(A1,A),
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not exclude(A,A1), not exclude(A1,A).
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not diverge(A,A1), not exclude(A,A1), not disable(A,A1) : disable(A1,A).
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compatible(A) :- compatible(A,A1).
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compatible(A) :- active(A), active(A1), A != A1, _parallel = 1, not selfdefeat(A),
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not diverge(A,A1), not exclude(A,A1), not disjoin(A,A1).
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disable(A,A1,A2) :- disable(A1,A2), compatible(A,A1), compatible(A,A2).
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disabled(A,A2) :- disable(A,A1,A2).
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disabled(A,A2) :- disable(A,A2).
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disable(A,A1,A2) :- compatible(A,A1), compatible(A,A2), not disable(A1,A),
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disable(A1,A2), not disable(A2,A1).
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% CHECK PROGRAM
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disabled(A,A2) :- disable(A,A1,A2).
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disabled(A,A2) :- disable(A,A2).
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% STEP PROGRAM
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#program step(t).
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defeated(A,t) :- active(A), postcondition(A,X,V), fluent(X), not holds(X,V,t),
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not selfdefeat(A), 0 < _parallel, _parallel < 4.
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defeated(A,t) :- compatible(A), postcondition(A,X,V), fluent(X), not holds(X,V,t).
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defeated(A,t) :- forall(A), precondition(A,X,V), not holds(X,V,t-1).
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defeated(A,t) :- forall(A), precondition(A,X,V), not has_condition(A,X,1), not holds(X,V,t).
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defeated(A,t) :- forall(A), postcondition(A,X,V), not has_condition(A,X,0), single(X,t).
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defeated(A,t) :- _parallel = 3, active(A), precondition(A,X,V), not holds(X,V,t-1).
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defeated(A,t) :- compatible(A), precondition(A,X,V), not holds(X,V,t-1), _parallel != 2.
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defeated(A,t) :- compatible(A), precondition(A,X,V), not has_condition(A,X,1), not holds(X,V,t),
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_parallel = 1.
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defeated(A,t) :- compatible(A), has_condition(A,X,1), not has_condition(A,X,0), single(X,t).
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proceed(A,X,V,t) :- compatible(A), holds(X,V,t-1), scope(X,V).
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proceed(A,X,V,t) :- compatible(A,A1), occurs(A1,t), perform(A,A1,t),
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postcondition(A1,X,V), scope(X,V), not precondition(A1,X,V).
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proceed(A,X,V,t) :- compatible(A,A1), not disable(A1,A), perform(A,A1,t), occurs(A1,t),
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scope(X,V), postcondition(A1,X,V), not precondition(A1,X,V).
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perform(A,A1,t) :- disabled(A,A1), not occurs(A1,t).
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perform(A,A1,t) :- compatible(A,A1),
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perform(A,A1,t) :- compatible(A,A1), not disable(A1,A),
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proceed(A,X,V,t) : precondition(A1,X,V), _parallel = 2;
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perform(A,A2,t) : disable(A,A1,A2).
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defeated(A,t) :- compatible(A), precondition(A,X,V), not proceed(A,X,V,t), _parallel = 2.
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defeated(A,t) :- compatible(A), disable(A,A2), not perform(A,A2,t).
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defeated(A,t) :- compatible(A), disable(A,A1), not perform(A,A1,t).
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:- active(A), not selfdefeat(A), not occurs(A,t), not defeated(A,t),
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0 < _parallel, _parallel < 4.
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:- compatible(A), not occurs(A,t), not defeated(A,t), 0 < _parallel, _parallel < 4.
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#const _parallel = 0.
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#include <incmode>.
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% Constant 'planner_on' to enable encoding support for ASP-based planner
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% - value '0': no compatibility to ASP-based planner (no idle steps permitted)
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% - otherwise: compatibility to ASP-based planner (idle steps permitted)
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#const planner_on = 0.
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% BASE PROGRAM
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% Define auxiliary predicates for actions w.r.t. parallel mode
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selfdefeat(A,X) :- active(A), precondition(A,X,V), has_condition(A,X,1), _parallel = 1,
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not postcondition(A,X,V).
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selfdefeat(A,X) :- active(A), precondition(A,X,V), _parallel = 1,
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has_condition(A,X,1), not postcondition(A,X,V).
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diverge(A1,A2,X) :- active(A1), active(A2), A1 < A2, postcondition(A1,X,V),
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diverge(A1,A2,X) :- active(A1), active(A2), postcondition(A1,X,V),
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has_condition(A2,X,1), not postcondition(A2,X,V),
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0 < _parallel, _parallel < 5.
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diverge(A1,A2) :- diverge(A1,A2,X).
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exclude(A1,A2) :- precondition(A1,X,V), 0 < _parallel, _parallel < 5, _parallel != 2,
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has_condition(A2,X,0), not precondition(A2,X,V).
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exclude(A1,A2) :- active(A1), active(A2), precondition(A1,X,V),
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has_condition(A2,X,0), not precondition(A2,X,V),
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0 < _parallel, _parallel < 5, _parallel != 2.
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disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,X,V),
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has_condition(A2,X,0), not precondition(A2,X,V),
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not diverge(A1,A2), not diverge(A2,A1),
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not exclude(A1,A2), not exclude(A2,A1),
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not diverge(A1,A2), not exclude(A1,A2),
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1 < _parallel, _parallel < 5.
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disable :- #sum{ 1,A1 : disable(A1,A2), _parallel = 4;
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-1,A2 : disable(A1,A2), _parallel = 4 } > 0.
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-1,A2 : disable(A1,A2), _parallel = 4} > 0.
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scope(X,V) :- active(A), precondition(A,X,V), _parallel = 2.
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{occurs(A,t) : active(A)}.
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:- not occurs(A,t) : active(A).
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:- planner_on = 0, not occurs(A,t) : active(A).
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:- occurs(A,t), postcondition(A,X,V), fluent(X), not holds(X,V,t).
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