(define (domain zeno-travel)
(:requirements :typing :negative-preconditions :universal-preconditions
:probabilistic-effects)
(:types aircraft person city flevel – object)
(:predicates (at ?x – (either person aircraft) ?c – city)
(boarding ?p – person ?a – aircraft)
(in ?p – person ?a – aircraft)
(debarking ?p -person ?a – aircraft)
(fuel-level ?a – aircraft ?l – flevel)
(next ?l1 ?l2 – flevel)
(flying ?a – aircraft ?c – city)
(zooming ?a – aircraft ?c – city)
(refueling ?a – aircraft))
(:action start-boarding
:parameters (?p – person ?a – aircraft ?c – city)
:precondition (and (at ?p ?c) (at ?a ?c))
:effect (and (not (at ?p ?c)) (boarding ?p ?a)))
(:action complete-boarding
:parameters (?p – person ?a – aircraft ?c – city)
:precondition (and (boarding ?p ?a) (at ?a ?c))
:effect (probabilistic 1/20 (and (not (boarding ?p ?a))
(in ?p ?a))))
(:action start-debarking
:parameters (?p – person ?a – aircraft ?c – city)
:precondition (and (in ?p ?a) (at ?a ?c))
:effect (and (not (in ?p ?a)) (debarking ?p ?a)))
(:action complete-debarking
:parameters (?p – person ?a – aircraft ?c – city)
:precondition (and (debarking ?p ?a) (at ?a ?c))
:effect (probabilistic 1/30 (and (not (debarking ?p ?a))
(at ?p ?c))))
(:action start-flying
:parameters (?a – aircraft ?c1 ?c2 – city ?l1 ?l2 – flevel)
:precondition (and (at ?a ?c1) (fuel-level ?a ?l1) (next ?l2 ?l1)
(not (refueling ?a))
(forall (?p – person)
(and (not (boarding ?p ?a))
(not (debarking ?p ?a)))))
:effect (and (not (at ?a ?c1)) (flying ?a ?c2)))
(:action complete-flying
:parameters (?a – aircraft ?c2 – city ?l1 ?l2 – flevel)
:precondition (and (flying ?a ?c2) (fuel-level ?a ?l1)
(next ?l2 ?l1))
:effect (probabilistic 1/180 (and (not (flying ?a ?c2)) (at ?a ?c2)
(not (fuel-level ?a ?l1))
(fuel-level ?a ?l2))))
(:action start-zooming
:parameters (?a – aircraft ?c1 ?c2 – city ?l1 ?l2 ?l3 – flevel)
:precondition (and (at ?a ?c1) (fuel-level ?a ?l1) (next ?l2 ?l1)
(next ?l3 ?l2) (not (refueling ?a))
(forall (?p – person)
(and (not (boarding ?p ?a))
(not (debarking ?p ?a)))))
:effect (and (not (at ?a ?c1)) (zooming ?a ?c2)))
(:action complete-zooming
:parameters (?a – aircraft ?c2 – city ?l1 ?l2 ?l3 – flevel)
:precondition (and (zooming ?a ?c2) (fuel-level ?a ?l1)
(next ?l2 ?l1) (next ?l3 ?l2))
:effect (probabilistic 1/100 (and (not (zooming ?a ?c2)) (at ?a ?c2)
(not (fuel-level ?a ?l1))
(fuel-level ?a ?l3))))
(:action start-refueling
:parameters (?a – aircraft ?c – city ?l ?l1 – flevel)
:precondition (and (at ?a ?c) (not (refueling ?a))
(fuel-level ?a ?l) (next ?l ?l1))
:effect (refueling ?a))
(:action complete-refuling
:parameters (?a – aircraft ?l ?l1 – flevel)
:precondition (and (refueling ?a) (fuel-level ?a ?l) (next ?l ?l1))
:effect (probabilistic 1/73 (and (not (refueling ?a))
(fuel-level ?a ?l1)
(not (fuel-level ?a ?l))))))
(define (problem ZTRAVEL-1-2)
(:domain zeno-travel)
(:objects
plane1 – aircraft
person1 – person
person2 – person
city0 – city
city1 – city
city2 – city
fl0 – flevel
fl1 – flevel
fl2 – flevel
fl3 – flevel
fl4 – flevel
fl5 – flevel
fl6 – flevel
)
(:init
(at plane1 city0)
(fuel-level plane1 fl1)
(at person1 city0)
(at person2 city2)
(next fl0 fl1)
(next fl1 fl2)
(next fl2 fl3)
(next fl3 fl4)
(next fl4 fl5)
(next fl5 fl6)
)
(:goal (and
(at plane1 city1)
(at person1 city0)
(at person2 city2)
))
)