On Succinct Groundings of HTN Planning Problems

  • Gregor Behnke Institute of Artificial Intelligence, Ulm University
  • Daniel Höller Institute of Artificial Intelligence, Ulm University
  • Alexander Schmid Institute of Artificial Intelligence, Ulm University
  • Pascal Bercher Institute of Artificial Intelligence, Ulm University
  • Susanne Biundo Institute of Artificial Intelligence, Ulm University

Abstract

Both search-based and translation-based planning systems usually operate on grounded representations of the problem. Planning models, however, are commonly defined using lifted description languages. Thus, planning systems usually generate a grounded representation of the lifted model as a preprocessing step. For HTN planning models, only one method to ground lifted models has been published so far. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings in a shorter timespan than the previously published method.

Published
2020-04-03
Section
AAAI Technical Track: Planning, Routing, and Scheduling