This repository contains code for the following contingent planning projects:

1. CPOR - this project contains the latest code for SDR + CPOR + unavoidable deadend handling. It is better to use this project instead of SDR and CPOR.org

2. SDR - single agent online planner. Implemetns SDR and MPSR translations:

   Guy Shani, Ronen I. Brafman: Replanning in Domains with Partial Information and Sensing Actions. IJCAI 2011: 2021-2026

Ronen I. Brafman, Guy Shani: A Multi-Path Compilation Approach to Contingent Planning. AAAI 2012

Ronen I. Brafman, Guy Shani: Replanning in Domains with Partial Information and Sensing Actions. J. Artif. Intell. Res. 45: 565-600 (2012)

Ronen I. Brafman, Guy Shani: On The Properties of Belief Tracking for Online Contingent Planning using Regression. ECAI 2014: 147-152

Ronen I. Brafman, Guy Shani: Online belief tracking using regression for contingent planning. Artif. Intell. 241: 131-152 (2016)

3. CPOR.org - single agent offline planner. Implements the original CPOR algorithm:

Radimir Komarnitsky, Guy Shani: Computing Contingent Plans Using Online Replanning. AAAI 2016: 3159-3165

Shlomi Maliah, Radimir Komarnitsky, Guy Shani: Computing Contingent Plan Graphs using Online Planning. ACM Trans. Auton. Adapt. Syst. 16(1): 1:1-1:30 (2021)

Dorin Shmaryahu, Guy Shani, Jörg Hoffmann: Comparative criteria for partially observable contingent planning. Auton. Agents Multi Agent Syst. 33(5): 481-517 (2019)

4. IMAP - multi agent contingent planning - QDecPOMDP

Sagi Bazinin, Guy Shani: Iterative Planning for Deterministic QDec-POMDPs. GCAI 2018: 15-28

5. WriteKPlanner - this projects implements the KPlanner translator of Bonet and Geffner from partially observable contingent planning to fully observable non-deterministic planning. This translation was implemented for the POPRP algorithm of Muise. The relevant POPRP scripts are also included.