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An Overview of Hierarchical Task Network Planning [article]

Ilche Georgievski, Marco Aiello
2014 arXiv   pre-print
Since Artificial Intelligence (AI) planning portrays information about the world and reasons to solve some of world's problems, Hierarchical Task Network (HTN) planning has been introduced almost 40 years  ...  However, the history of almost 40 years obfuscates the current understanding of HTN planning in terms of accomplishments, planning models, similarities and differences among hierarchical planners, and  ...  We would like to thank Austin Tate for valuable comments on the Nonlin and O-Plan2 planning systems and Luis Castillo Vidal for the valuable feedback on the SIADEX planning system.  ... 
arXiv:1403.7426v1 fatcat:alqqtduit5gyxodbqgbjnvsoue

The PANDA Framework for Hierarchical Planning

Daniel Höller, Gregor Behnke, Pascal Bercher, Susanne Biundo
2021 Künstliche Intelligenz  
Several of these novel methods have been integrated into the PANDA framework, which is a software system to reason about hierarchical planning tasks.  ...  AbstractDuring the last years, much progress has been made in hierarchical planning towards domain-independent systems that come with sophisticated techniques to solve planning problems instead of relying  ...  [17] for an overview). Another variant supported is HTN planning with task insertion (TIHTN).  ... 
doi:10.1007/s13218-020-00699-y fatcat:c6odx47a7bbz5ow755o6zaate4

Supply Chain Planning and Demand Fulfillment [chapter]

Sebastian Vogel
2013 Demand Fulfillment in Multi-Stage Customer Hierarchies  
Supply Chain Planning The following sectioDB will provide an overview of planning concepts in a supply chain.  ...  An appropriate planning concept, both for inter-company and intra-organizational supply chains, is hierarchical planning. It takes S.  ...  The above assignment of individual planning tasks to planning levels represents an ideal planning situation.  ... 
doi:10.1007/978-3-658-02864-0_2 fatcat:k6kjxwsfcvf4xetv37vaeu6cm4

HDDL: An Extension to PDDL for Expressing Hierarchical Planning Problems

Daniel Höller, Gregor Behnke, Pascal Bercher, Susanne Biundo, Humbert Fiorino, Damien Pellier, Ron Alford
In this paper, we propose an extension to PDDL, the description language used in non-hierarchical planning, to the needs of hierarchical planning systems.  ...  The research in hierarchical planning has made considerable progress in the last few years.  ...  The industrial project partner is the Corporate Research Sector of the Robert Bosch GmbH.  ... 
doi:10.1609/aaai.v34i06.6542 fatcat:qlsvozotdva2vhde6fer3a4yn4

Integrating planning and execution for ROS enabled service robots using hierarchical action representations

Rob Janssen, Erik van Meijl, Daniel Di Marco, Rene van de Molengraft, Maarten Steinbuch
2013 2013 16th International Conference on Advanced Robotics (ICAR)  
By annotating these static action representations with hierarchical planner predicates, they can be interpreted by the Hierarchical Task Network planner SHOP2 to compose more flexible, optimized robot  ...  Examples of this information are the hierarchical task descriptions, or action recipes, that represent typical household tasks as symbolic action sequences.  ...  To meet the above requirements, the Hierarchical Task Network planner SHOP2 [13] is adopted.  ... 
doi:10.1109/icar.2013.6766556 dblp:conf/icar/JanssenMMMS13 fatcat:jb3dukpkpfbebgxmzohx6ejthq

Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs [article]

Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu
2021 arXiv   pre-print
We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks.  ...  Our model uses graph neural networks to process these scene graphs for predicting high-level task plans and low-level motions.  ...  ACKNOWLEDGEMENT We would like to thank Guanya Shi for providing an improved version of DOPE. We also would like to thank Nvidia AI-Algorithm team for providing valuable internal feedback to the paper.  ... 
arXiv:2012.07277v2 fatcat:fejesoya35cubauvnjsbrjnqjq

Expressivity of STRIPS-Like and HTN-Like Planning [chapter]

Marián Lekavý, Pavol Návrat
2007 Lecture Notes in Computer Science  
It is widely believed, that the expressivity of STRIPS and STRIPS-like planning based on actions is generally lower than the expressivity of Hierarchical Task Network (HTN) and HTN-like planning, based  ...  on hierarchical decomposition.  ...  Hierarchical Task Network (HTN) The HTN [7] and HTN-like approaches are based on hand-made hierarchical decomposition of the problem domain.  ... 
doi:10.1007/978-3-540-72830-6_13 fatcat:imhgvjw3vreqtkkdugbikm3vrq

Page 255 of American Society of Civil Engineers. Collected Journals Vol. 113, Issue 4 [page]

1987 American Society of Civil Engineers. Collected Journals  
MOLGEN also used explicit operators in a hierarchical task space to plan genetic experiments (Stefik 198la, 1981b).  ...  NOAH (Network of Action Hierarchies) was an initial formalization of the problem in which declarative and procedural knowledge about activities were represented in a network.  ... 

Improving Exploratory Search Experience through Hierarchical Knowledge Graphs

Bahareh Sarrafzadeh, Edward Lank
2017 Proceedings of the 40th International ACM SIGIR Conference on Research and Development in Information Retrieval - SIGIR '17  
tasks.  ...  In this paper, we explore a multi-layer extension to knowledge graphs, hierarchical knowledge graphs (HKGs), that combines hierarchical and network visualizations into a uni ed data representation. rough  ...  ACKNOWLEDGEMENTS Funding for this research was provided by the Natural Science and Engineering Research Council of Canada (NSERC).  ... 
doi:10.1145/3077136.3080829 dblp:conf/sigir/SarrafzadehL17 fatcat:b6gswme5xjaxtkbol4wpmhgikq

Petri net based simulation of construction schedules

Anil Sawhney
1997 Proceedings of the 29th conference on Winter simulation - WSC '97  
Hierarchical transitions allow a systematic top-down breakdown of a construction project.  ...  This automatically allows the incorporation of risk and uncertainty in the time and cost estimates of work tasks.  ...  The views and conclusions expressed and the recommendations made in this paper are entirely those of the author and should not be construed as expressing the opinions of Western Michigan University.  ... 
doi:10.1145/268437.268747 fatcat:rh7aizgvpzac7mzydqjrb3yryq

Collaborative Planning Using Hierarchical Task Network

Teeradaj Racharak
2013 Journal of clean energy technologies  
This fact is reflected in an emergence of collaborative tools for people's participation. Such tools include social networking sites, instant messengers, email and mailing list, and so on.  ...  In the field of Artificial Intelligence, Automated Planning and Scheduling has become an immense research.  ...  Hence, it is obvious to conclude Collaborative Planning Using Hierarchical Task Network Teeradaj Racharak that an ordered task decomposition planner plans for tasks in the same order that the tasks will  ... 
doi:10.7763/ijcte.2013.v5.749 fatcat:q75jzajytnecdeyqozrrtzibnu

In This Issue –Technically

2021 IEEE Aerospace and Electronic Systems Magazine  
In this article, an interactive tool for simulation of satellites dynamics and autonomous spacecraft guidance is presented.  ...  Taking advantage of a graphical user interface, it can evaluate, analyze, and illustrate the motion of satellite based on different orbit propagation schemes.  ...  This article addresses an extended Hierarchical Task Network (HTN) description language for satellite onboard mission planning and acting.  ... 
doi:10.1109/maes.2021.3094638 fatcat:vb6wl4y64vc4bjbhnp7tfqla6a

Hierarchical Planning in the IPC [article]

D. Höller, G. Behnke, P. Bercher, S. Biundo, H. Fiorino, D. Pellier, R. Alford
2019 arXiv   pre-print
Over the last year, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners.  ...  This is mostly caused by the fact that there is no standard set of benchmark domains, nor even a common description language for hierarchical planning problems.  ...  Here tn is a task network, which gives HTN planning its name. A task network is a partially ordered multi-set of tasks.  ... 
arXiv:1909.04405v1 fatcat:unam6lhggvhijihwwsc5qa7ysq

HDDL – A Language to Describe Hierarchical Planning Problems [article]

D. Höller, G. Behnke, P. Bercher, S. Biundo, H. Fiorino, D. Pellier, R. Alford
2019 arXiv   pre-print
In this paper, we propose an extension to PDDL, the description language used in non-hierarchical planning, to the needs of hierarchical planning systems.  ...  The research in hierarchical planning has made considerable progress in the last few years.  ...  We argue that the core feature set underlying many hierarchical planning systems from the past years is that of HTN planning and introduced its elements as an extension of PDDL, the description language  ... 
arXiv:1911.05499v1 fatcat:3osrl2q5l5ei3lt7voyvhnnx5u

Transferable Task Execution from Pixels through Deep Planning Domain Learning [article]

Kei Kase, Chris Paxton, Hammad Mazhar, Tetsuya Ogata, Dieter Fox
2020 arXiv   pre-print
We propose Deep Planning Domain Learning (DPDL), an approach that combines the strengths of both methods to learn a hierarchical model.  ...  world robotic tasks due to the challenges of grounding these symbols from sensor data in a partially-observable world.  ...  An overview of this approach is shown in Fig. 1 .  ... 
arXiv:2003.03726v1 fatcat:dkv25bjwk5apvn2uad3ehix4ue
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