Dock Worker Robots planning domain.
This planning domain consists of a traffic network,
transportation robots and of cranes. Each transportation
robot has a certain capacity of packages and can move
within the traffic network. There are two types of places
within the traffic network called locations and sites. A
location is an ordinary place which represents a node in the
traffic network. A site is a special place where packages
can be loaded and unloaded to and from the transportation
robot. Each site has certain number of cranes and certain
number of piles of packages (packages in pile behave like a
stack - LIFO). Each crane can load and unload a package
to and from a transporter. Typically, not all piles within a
site are reachable by a single crane so the cooperation
among cranes on the site is necessary.
The task within this planning domain is usually to transport
some packages from one site to another site and to put
them on piles in the right order.