adubredu / gtpmip.jl

Optimal Constrained Task Planning as Mixed Integer Programming

GTPMIP

Grounded Task Planning as Mixed Integer Programming.

Julia package for the GTPMIP algorithm. Given an optimal constrained task planning problem specified in an hpd file, GTPMIP returns a logically coherent sequence of actions, each with its corresponding optimal continuous parameters.

Installation

1. Open your Julia REPL by typing julia in your terminal.
2. Press ] on your keyboard to enter the package manager
3. Enter command add https://github.com/adubredu/gtpmip.jl and press Enter on your keyboard to install this package.
4. Press the Backspace key on your keyboard to return to the REPL

This package uses Gurobi to solve Mixed Integer Programs. As such, a Gurobi license is required to use this package. Instructions on how to acquire a free academic Gurobi license can be found here

Usage

Example usage scripts can be found in the experiments folder.

Webpage

More information about this algorithm can be found on the project webpage