# UCPOP: A Sound, Complete, Partial Order Planner for ADL

@inproceedings{Penberthy1992UCPOPAS, title={UCPOP: A Sound, Complete, Partial Order Planner for ADL}, author={J. Scott Penberthy and Daniel S. Weld}, booktitle={KR}, year={1992} }

We describe the ucpop partial order planning algorithm which handles a subset of Pednault's ADL action representation. In particular, ucpop operates with actions that have conditional e ects, universally quanti ed preconditions and e ects, and with universally quanti ed goals. We prove ucpop is both sound and complete for this representation and describe a practical implementation that succeeds on all of Pednault's and McDermott's examples, including the infamous \Yale Stacking Problem…

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