Abstract
In this paper we introduce a formalism for solving Hierarchical Task Network (HTN) Planning using Answer Set Programming (ASP). We consider the formulation of HTN planning as described in the SHOP planning system and define a systematic translation method from SHOP’s representation of the planning problem into logic programs with negation. We show that our translation is sound and complete: answer sets of the logic program obtained by our translation correspond exactly to the solutions of the planning problem. We compare our method to (1) similar approaches based on non-HTN planning and (2) SHOP, a dedicated planning system. We show that our approach outperforms non-HTN methods and that its performance is better with ASP systems that allow for nonground programs than with ASP systems that require ground programs.
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Dix, J., Kuter, U., Nau, D. (2003). Planning in Answer Set Programming Using Ordered Task Decomposition. In: Günter, A., Kruse, R., Neumann, B. (eds) KI 2003: Advances in Artificial Intelligence. KI 2003. Lecture Notes in Computer Science(), vol 2821. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-39451-8_36
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DOI: https://doi.org/10.1007/978-3-540-39451-8_36
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