Golog+HTNt™: Adding Time and Intervals to Procedural and Hierarchical Control Knowledge

In this paper we introduce a language for expressing procedural and HTN-based domain constraints. Our language starts with features from GOLOG and HTN and extends them so that we can deal with actions with duration by being able to specify time intervals between the start (or end) of an action (or a program) and the start of another action (or program). We then discuss a planner based on the answer set planning paradigm that can exploit such domain knowledge.