This library provides a (incomplete) solver for CNLCSP based on the research conducted in the Carpe Noctem RoboCup Team.

The theoretical background can be found here:

http://nbn-resolving.de/urn:nbn:de:hebis:34-2016110251246

@inproceedings{witsch2013using, title={Using incomplete satisfiability modulo theories to determine robotic tasks}, author={Witsch, Andreas and Skubch, Hendrik and Niemczyk, Stefan and Geihs, Kurt}, booktitle={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}, pages={4784--4789}, year={2013}, organization={IEEE} }

@misc{skubch2013modelling, title={Modelling and Controlling of Behaviour for Autonomous Mobile Robots}, author={Skubch, Hendrik}, journal={Modelling and Controlling of Behaviour for Autonomous Mobile Robots}, pages={280}, year={2013}, publisher={Springer Fachmedien Wiesbaden} }

@inproceedings{skubch2012solving, title={Solving non-linear arithmetic constraints in soft realtime environments}, author={Skubch, Hendrik}, booktitle={Proceedings of the 27th Annual ACM Symposium on Applied Computing}, pages={67--73}, year={2012}, organization={ACM} }

It is based on the work of: http://autodiff.codeplex.com/

Further documentation follows soon.