smart-pucrs_floods-domain/HTN/factored-representation/p01/ugv2.lisp
;;;--------------------------------------------------------------
(defproblem ugv2 floods-ugv
   (
    ;;;
    ;;;  facts
    ;;;
    (robot ugv2)
    (ugv ugv2)
    (area area1)
    (area area2)
    (area area3)
    (area area4)
    (area area5)
    (area area6)
    (area area7)
    (area area8)
    (area area9)
    (area area10)
    (area area11)
    (area area12)
    (area area13)
    (area area14)
    (area area15)
    (disaster disaster1)
    (disaster disaster2)
    (disaster disaster3)
    (disaster disaster4)
    (disaster disaster5)
    (cdm cdm1)
    (cdm cdm2)
    (store ugv1Store)
    (store ugv2Store)
    (store ugv3Store)
    (store usv1Store)
    (store usv2Store)
    (store usv3Store)
    (box box1)
    (box box2)
    
    ;;;
    ;;;  initial states
    ;;;
	(store_of ugv2Store ugv2)
	(empty ugv1Store)
	(empty ugv2Store)
	(empty ugv3Store)
	(empty usv1Store)
	(empty usv2Store)
	(empty usv3Store)
	(cdm_at cdm1 area1)
	(cdm_at cdm2 area13)
	(at ugv2 area1)
	(box_at_cdm box1 cdm1)
	(box_at_cdm box2 cdm2)

	(water_path area1 area2)
	(water_path area2 area1)
	(water_path area2 area4)
	(water_path area4 area2)
	(water_path area2 area6)
	(water_path area6 area2)
	(water_path area4 area5)
	(water_path area5 area4)
	(water_path area4 area9)
	(water_path area9 area4)
	(water_path area9 area8)
	(water_path area8 area9)
	(water_path area8 area7)
	(water_path area7 area8)
	(water_path area6 area12)
	(water_path area12 area6)
	(water_path area12 area10)
	(water_path area10 area12)
	(water_path area9 area13)
	(water_path area13 area9)
	(water_path area2 area14)
	(water_path area14 area2)

	(ground_path area1 area3)
	(ground_path area3 area1)
	(ground_path area3 area4)
	(ground_path area4 area3)
	(ground_path area3 area5)
	(ground_path area5 area3)
	(ground_path area4 area6)
	(ground_path area6 area4)
	(ground_path area4 area10)
	(ground_path area10 area4)
	(ground_path area10 area7)
	(ground_path area7 area10)
	(ground_path area7 area8)
	(ground_path area8 area7)
	(ground_path area5 area11)
	(ground_path area11 area5)
	(ground_path area11 area9)
	(ground_path area9 area11)
	(ground_path area10 area13)
	(ground_path area13 area10)
	(ground_path area3 area15)
	(ground_path area15 area3)

	(visible_from disaster1 area8)
	(visible_from disaster2 area12)
	(visible_from disaster3 area10)
	(visible_from disaster4 area7)
	(visible_from disaster5 area3)

	(in_range area2 area1)
	(in_range area3 area1)
	(in_range area1 area1)
	(in_range area9 area13)
	(in_range area10 area13)
	(in_range area13 area13)
)

(:unordered

(:task deliver_box box1 area9)
))

(find-plans 'ugv2 :which :shallowest :verbose :plans)
