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Hierarchical Hybrid Planning in a Mobile Service Robot
[chapter]
2015
Lecture Notes in Computer Science
Planning with diverse knowledge, i.e., hybrid planning, is essential for robotic applications. However, powerful heuristics are needed to reason efficiently in the resulting large search spaces. HTN planning provides a means to reduce the search space; furthermore, meta-CSP search has shown promise in hybrid domains, both wrt. search and online plan adaptation. In this paper we combine the two approaches by implementing HTN-style task decomposition as a meta-constraint in a meta-CSP search,
doi:10.1007/978-3-319-24489-1_28
fatcat:tcdqdkx7e5cw3nms6q52qyfuwq