From 240f3b3a7f8dc31842e2913d14c554dbb995e67f Mon Sep 17 00:00:00 2001
From: Tobias Eidelpes <tobias@eidelpes.info>
Date: Fri, 22 Jul 2022 19:56:28 +0200
Subject: [PATCH] Initial commit

---
 crossing.bk   |  1 +
 crossing.plan | 56 +++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 57 insertions(+)
 create mode 100644 crossing.bk
 create mode 100644 crossing.plan

diff --git a/crossing.bk b/crossing.bk
new file mode 100644
index 0000000..bef7b23
--- /dev/null
+++ b/crossing.bk
@@ -0,0 +1 @@
+animal(wolf1). animal(wolf2). animal(fox). animal(chicken). animal(worm).
diff --git a/crossing.plan b/crossing.plan
new file mode 100644
index 0000000..003fe59
--- /dev/null
+++ b/crossing.plan
@@ -0,0 +1,56 @@
+actions:
+    crossTogether(X,Y) requires animal(X), animal(Y), X < Y.
+    cross(X) requires animal(X).
+
+fluents:
+    here(X) requires animal(X).
+    boat_here.
+
+initially:
+    here(X).
+    boat_here.
+
+always:
+    nonexecutable crossTogether(X,Y) if -here(X), here(Y).
+    nonexecutable crossTogether(X,Y) if here(X), -here(Y).
+
+    executable crossTogether(X,Y) if -here(X), -here(Y), -boat_here.
+    executable crossTogether(X,Y) if here(X), here(Y), boat_here.
+
+    executable cross(X) if here(X), boat_here.
+    executable cross(X) if -here(X), -boat_here.
+
+    caused -boat_here after crossTogether(_,_), boat_here.
+    caused boat_here after crossTogether(_,_), -boat_here.
+
+    caused -boat_here after cross(_), boat_here.
+    caused boat_here after cross(_), -boat_here.
+
+    caused here(X) after crossTogether(X,Y), -here(X).
+    caused here(Y) after crossTogether(X,Y), -here(Y).
+    caused -here(X) after crossTogether(X,Y), here(X).
+    caused -here(Y) after crossTogether(X,Y), here(Y).
+
+    caused here(X) after cross(X), -here(X).
+    caused -here(X) after cross(X), here(X).
+
+    forbidden here(wolf1), here(fox), -boat_here.
+    forbidden here(wolf2), here(fox), -boat_here.
+    forbidden here(wolf1), here(chicken), -boat_here.
+    forbidden here(wolf2), here(chicken), -boat_here.
+    forbidden here(fox), here(chicken), -boat_here.
+    forbidden here(chicken), here(worm), -boat_here.
+
+    forbidden -here(wolf1), -here(fox), boat_here.
+    forbidden -here(wolf2), -here(fox), boat_here.
+    forbidden -here(wolf1), -here(chicken), boat_here.
+    forbidden -here(wolf2), -here(chicken), boat_here.
+    forbidden -here(fox), -here(chicken), boat_here.
+    forbidden -here(chicken), -here(worm), boat_here.
+
+    inertial here(X).
+    inertial -here(X).
+
+    noConcurrency.
+
+goal: -here(wolf1), -here(wolf2), -here(fox), -here(chicken), -here(worm)?