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Getting started

  • Installation
    • From the release packages
    • Supported distributions
    • Dependencies
    • Building from source
    • Language standard
    • Running the tests
  • A First Plan
    • The problem
    • Parameters
    • Bringing up the system
    • Sensing from a map
    • Requesting a plan
    • What comes back
    • Action names
  • The command line
    • The verbs
    • The epistemic verb
    • A worked session
    • The dashboard
    • Why the verbs live here

Concepts

  • Epistemic Models
    • State representation
    • Formulas
    • Product update
    • Bisimulation contraction
    • World cap policies
    • Heuristics
    • Search strategies
    • Selection policy
  • EPDDL and Grounded Tasks
    • What the solver reads
    • Structure of a grounded task
    • Requirements
    • Grounding
    • Formula syntax
    • Checked-in tasks
    • Action names
  • Architecture
    • Plan solver plugin
    • Running the planner as a subprocess
    • Policies
    • Behavior tree
    • Reporting an observation
    • Epistemic nodes
    • The domain side
    • Epistemic state
    • When information arrives from outside the plan
    • When replanning stops getting anywhere
    • When the world contradicts the model
    • Replanning from the current belief
    • One agent’s point of view
    • Perception
    • Executor configuration
    • Package boundaries

Demos

  • Demos
    • The corridor
      • Running it
      • What runs
      • What to watch
      • What the demo supplies
    • The site survey
      • Running it
      • The goal
      • The channels
      • What the planner does with them
      • What removing a conjunct does
    • The two-site survey
      • Running it
      • The goal
      • Why the instruments
      • What the dispatch changes

Tutorials

  • Tutorials
    • Fleet: the blocked corridor
      • The mission
      • Formalization
      • Grounding
      • The policy
      • Running it
      • Performance
      • Next
    • Fleet: the two-route depot
      • The mission
      • Formalization
      • Grounding
      • The policy
      • Running it
      • Performance
      • Next
    • Fleet: the three-route survey
      • The mission
      • Formalization
      • Grounding
      • The policy
      • Running it
      • Performance

Open-RMF execution

  • Open-RMF execution
    • Division of responsibility
    • What a performer does
    • Reference scenario
      • Design decisions
      • The task map
      • Running the survey demo
      • A warehouse run, end to end
      • Diagnostics
      • Building and testing

Reports

  • Executing a policy end to end
    • What the tests run
    • Where the observation comes from
    • Defects the end-to-end path exposed
    • Results
    • Known gaps

About

  • Contributing
    • Licensing
    • Developer Certificate of Origin
    • Branches
    • Continuous integration
    • Style
  • License
    • Relationship to PlanSys2
    • Provenance of the packages
    • Copyright
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© Copyright 2026, Haniel Ulises Vasquez Morales.