UPMurphi Released: PDDL+ Planning for Hybrid Systems

In this tool paper, we present the release of UPMurphi, a uni- versal planner for PDDL+ domains. Planning for hybrid do- mains has found increasing attention in the planning commu- nity, motivated by the need to address more realistic scenar- ios. While a number of techniques for planning with a subset of PDDL+ domains have been proposed, UPMurphi is able to handle the full range of PDDL+ features, including non- linear continuous processes, exogenous events, Timed Initial Literals and numeric Timed Initial Fluents. This paper describes the UPMurphi framework and presents its main features, together with a guide for using the tool, and some examples where UPMurphi has been successfully applied.