Class GoalOrientedPlanner

java.lang.Object

com.google.adk.planner.goap.GoalOrientedPlanner

All Implemented Interfaces:

Planner

public final class GoalOrientedPlanner
extends Object
implements Planner

A planner that resolves agent execution order based on input/output dependencies and a target goal (output key).

Given agent metadata declaring what each agent reads (inputKeys) and writes (outputKey), this planner uses backward-chaining dependency resolution to compute the execution path from initial preconditions to the goal.

Example:

  Agent A: inputs=[], output="person"
  Agent B: inputs=[], output="sign"
  Agent C: inputs=["person", "sign"], output="horoscope"
  Agent D: inputs=["person", "horoscope"], output="writeup"
  Goal: "writeup"

  Resolved groups: [A, B] → [C] → [D]
  (A and B are independent and run in parallel)

Supports configurable failure handling via ReplanPolicy:

• ReplanPolicy.Ignore — proceed regardless of missing outputs (default)
• ReplanPolicy.FailStop — halt on first missing output
• ReplanPolicy.Replan — recompute the remaining plan from current world state

Supports pluggable search strategies via SearchStrategy: backward-chaining DFS (DfsSearchStrategy) or forward A* (AStarSearchStrategy).

Constructor Summary

Constructors

Constructor	Description
GoalOrientedPlanner(String goal, List<AgentMetadata> metadata)
GoalOrientedPlanner(String goal, List<AgentMetadata> metadata, boolean validateOutputs)
GoalOrientedPlanner(String goal, List<AgentMetadata> metadata, SearchStrategy searchStrategy, ReplanPolicy replanPolicy)

Method Summary

Modifier and Type	Method	Description
io.reactivex.rxjava3.core.Single<PlannerAction>	firstAction(PlanningContext context)	Select the first action to execute.
void	init(PlanningContext context)	Initialize the planner with context and available agents.
io.reactivex.rxjava3.core.Single<PlannerAction>	nextAction(PlanningContext context)	Select the next action based on updated state and events.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

GoalOrientedPlanner

public GoalOrientedPlanner(String goal,
 List<AgentMetadata> metadata)

GoalOrientedPlanner

public GoalOrientedPlanner(String goal,
 List<AgentMetadata> metadata,
 boolean validateOutputs)

GoalOrientedPlanner

public GoalOrientedPlanner(String goal,
 List<AgentMetadata> metadata,
 SearchStrategy searchStrategy,
 ReplanPolicy replanPolicy)

Method Details

init

public void init(PlanningContext context)

Description copied from interface: Planner

Initialize the planner with context and available agents. Called once before the planning loop starts.

Default implementation is a no-op. Override to perform setup like building dependency graphs.

Specified by:

init in interface Planner

firstAction

public io.reactivex.rxjava3.core.Single<PlannerAction> firstAction(PlanningContext context)

Description copied from interface: Planner

Select the first action to execute.

Specified by:

firstAction in interface Planner

nextAction

public io.reactivex.rxjava3.core.Single<PlannerAction> nextAction(PlanningContext context)

Description copied from interface: Planner

Select the next action based on updated state and events.

Specified by:

nextAction in interface Planner