Halim Djerroud

MPAL (Multi-Planning Algorithms Library) is a curated collection of classical and modern planning algorithms — heuristic search, A*/D*, RRT/RRT*, bug algorithms, hierarchical/HTN planning — bundled as teaching material for the M1/M2 Planification automatique course. The implementations favour legibility over raw performance, so students can read the code alongside the lecture notes and modify it directly during lab sessions.