Semantics for Hierarchical Task-Network Planning
Technical research rept.
MARYLAND UNIV COLLEGE PARK INST FOR SYSTEMS RESEARCH
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One big obstacle to understanding the nature of hierarchical task network HTN planning has been the lack of a clear theoretical framework. In particular, no one has yet presented a clear and concise HTN algorithm that is sound and complete. In this paper, the authors present a formal syntax and semantics for HTN planning. Based on this syntax and semantics, they are able to define an algorithm for HTN planning and prove that it is sound and complete. They also develop several definitions of expressivity for planning languages and prove that HTN planning is strictly more expressive than STRIPS-style planning according to those definitions.
- Computer Programming and Software