Planner supporting preferences (:constraints)

[Victor PALEOLOGUE]

Good day everyone,

I am looking for a planner supporting preferences, provided with the ":constraints" requirements.

This feature is defined here: http://citeseerx.ist.psu.edu/viewdoc/download;jsessionid=9378E46CA068F01CB96446AC7E1F8BD4?doi=10.1.1.75.9558&rep=rep1&type=pdf

Does one of the ROSPlan-supported planners support preferences?

Or is there a common workaround to achieve an prioritization of goals?

Best regards,

Victor