diff --git a/instances/ipc-2002-driver-log-strips/domain.pddl b/instances/ipc-2002-driver-log-strips/domain.pddl
new file mode 100644
index 0000000..e493815
--- /dev/null
+++ b/instances/ipc-2002-driver-log-strips/domain.pddl
@@ -0,0 +1,79 @@
+(define (domain driverlog)
+  (:requirements :typing) 
+  (:types         location locatable - object
+		driver truck obj - locatable
+  
+  )
+  (:predicates 
+		(at ?obj - locatable ?loc - location)
+		(in ?obj1 - obj ?obj - truck)
+		(driving ?d - driver ?v - truck)
+		(link ?x ?y - location) (path ?x ?y - location)
+		(empty ?v - truck)
+)
+
+
+(:action LOAD-TRUCK
+  :parameters
+   (?obj - obj
+    ?truck - truck
+    ?loc - location)
+  :precondition
+   (and (at ?truck ?loc) (at ?obj ?loc))
+  :effect
+   (and (not (at ?obj ?loc)) (in ?obj ?truck)))
+
+(:action UNLOAD-TRUCK
+  :parameters
+   (?obj - obj
+    ?truck - truck
+    ?loc - location)
+  :precondition
+   (and (at ?truck ?loc) (in ?obj ?truck))
+  :effect
+   (and (not (in ?obj ?truck)) (at ?obj ?loc)))
+
+(:action BOARD-TRUCK
+  :parameters
+   (?driver - driver
+    ?truck - truck
+    ?loc - location)
+  :precondition
+   (and (at ?truck ?loc) (at ?driver ?loc) (empty ?truck))
+  :effect
+   (and (not (at ?driver ?loc)) (driving ?driver ?truck) (not (empty ?truck))))
+
+(:action DISEMBARK-TRUCK
+  :parameters
+   (?driver - driver
+    ?truck - truck
+    ?loc - location)
+  :precondition
+   (and (at ?truck ?loc) (driving ?driver ?truck))
+  :effect
+   (and (not (driving ?driver ?truck)) (at ?driver ?loc) (empty ?truck)))
+
+(:action DRIVE-TRUCK
+  :parameters
+   (?truck - truck
+    ?loc-from - location
+    ?loc-to - location
+    ?driver - driver)
+  :precondition
+   (and (at ?truck ?loc-from)
+   (driving ?driver ?truck) (link ?loc-from ?loc-to))
+  :effect
+   (and (not (at ?truck ?loc-from)) (at ?truck ?loc-to)))
+
+(:action WALK
+  :parameters
+   (?driver - driver
+    ?loc-from - location
+    ?loc-to - location)
+  :precondition
+   (and (at ?driver ?loc-from) (path ?loc-from ?loc-to))
+  :effect
+   (and (not (at ?driver ?loc-from)) (at ?driver ?loc-to)))
+
+ 
+)
diff --git a/instances/ipc-2002-driver-log-strips/problem-01.pddl b/instances/ipc-2002-driver-log-strips/problem-01.pddl
new file mode 100644
index 0000000..d4de756
--- /dev/null
+++ b/instances/ipc-2002-driver-log-strips/problem-01.pddl
@@ -0,0 +1,48 @@
+(define (problem DLOG-2-2-2)
+	(:domain driverlog)
+	(:objects
+	driver1 - driver
+	driver2 - driver
+	truck1 - truck
+	truck2 - truck
+	package1 - obj
+	package2 - obj
+	s0 - location
+	s1 - location
+	s2 - location
+	p1-0 - location
+	p1-2 - location
+	)
+	(:init
+	(at driver1 s2)
+	(at driver2 s2)
+	(at truck1 s0)
+	(empty truck1)
+	(at truck2 s0)
+	(empty truck2)
+	(at package1 s0)
+	(at package2 s0)
+	(path s1 p1-0)
+	(path p1-0 s1)
+	(path s0 p1-0)
+	(path p1-0 s0)
+	(path s1 p1-2)
+	(path p1-2 s1)
+	(path s2 p1-2)
+	(path p1-2 s2)
+	(link s0 s1)
+	(link s1 s0)
+	(link s0 s2)
+	(link s2 s0)
+	(link s2 s1)
+	(link s1 s2)
+)
+	(:goal (and
+	(at driver1 s1)
+	(at truck1 s1)
+	(at package1 s0)
+	(at package2 s0)
+	))
+
+
+)
diff --git a/instances/ipc-2002-driver-log-strips/problem-03.pddl b/instances/ipc-2002-driver-log-strips/problem-03.pddl
new file mode 100644
index 0000000..8ad17ff
--- /dev/null
+++ b/instances/ipc-2002-driver-log-strips/problem-03.pddl
@@ -0,0 +1,59 @@
+(define (problem DLOG-2-2-4)
+	(:domain driverlog)
+	(:objects
+	driver1 - driver
+	driver2 - driver
+	truck1 - truck
+	truck2 - truck
+	package1 - obj
+	package2 - obj
+	package3 - obj
+	package4 - obj
+	s0 - location
+	s1 - location
+	s2 - location
+	p0-1 - location
+	p2-0 - location
+	p2-1 - location
+	)
+	(:init
+	(at driver1 s1)
+	(at driver2 s0)
+	(at truck1 s1)
+	(empty truck1)
+	(at truck2 s2)
+	(empty truck2)
+	(at package1 s0)
+	(at package2 s0)
+	(at package3 s1)
+	(at package4 s1)
+	(path s0 p0-1)
+	(path p0-1 s0)
+	(path s1 p0-1)
+	(path p0-1 s1)
+	(path s2 p2-0)
+	(path p2-0 s2)
+	(path s0 p2-0)
+	(path p2-0 s0)
+	(path s2 p2-1)
+	(path p2-1 s2)
+	(path s1 p2-1)
+	(path p2-1 s1)
+	(link s1 s0)
+	(link s0 s1)
+	(link s1 s2)
+	(link s2 s1)
+	(link s2 s0)
+	(link s0 s2)
+)
+	(:goal (and
+	(at driver2 s2)
+	(at truck1 s1)
+	(at truck2 s2)
+	(at package1 s1)
+	(at package2 s1)
+	(at package3 s2)
+	))
+
+
+)
diff --git a/instances/ipc-2002-driver-log-strips/solutions b/instances/ipc-2002-driver-log-strips/solutions
new file mode 100644
index 0000000..c7d5efd
--- /dev/null
+++ b/instances/ipc-2002-driver-log-strips/solutions
@@ -0,0 +1,4 @@
+instance | minimal horizon | #solutions with minimal horizon
+============================================================
+problem-01.pddl | 7 | 1
+problem-03.pddl | 12 | 1056