CLG+ Contingent Planner
In order to solve contingent planning problems where the goal is initially not reachable, it is necessary to allow a planner to search for a plan, to introduce assumptions under which a solution might exist. Here, such assumptions are embedded in the problem, and encoded as actions with high cost. The CLG+ planner is built on top of CLG, with the difference that it allows to search for solution plans even in those problems that can have a priori no solution.
This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 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.