Object Transition Sequences: A New Form of Abstraction for HTN Planners

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This paper presents EMS, an implemented HTN planning algorithm using a novel form of abstraction. A plan is viewed as a set of dynamic objects taking part in sequences of transitions. EMS builds up plans using an Expand then Make-Sound cycle: a plan is built up by constructing and expanding a tree of networks at different levels of abstraction, where a network contains object transition sequences. A network is made sound by adjusting the pre and postconditions of all the object transition sequences it contains, and proving the sequence in between is sound. As new objects are discovered in the detailed levels of the hierarchically developing plan, the pre and postconditions of their transition sequences are passed up to a parent network in the; hierarchy which must then be made sound. The main benefits of EMS are that it processes an expressive, declarative input language based on object hierarchies; it is efficient in its reasoning, in that object transition sequences can be manipulated independently of objects of unrelated sorts, and reasoning about condition achievement is performed locally in a network; and it provides a clear, sound algorithm with the potential of application to complex applications.

Original languageEnglish
Title of host publicationProceedings of the 5th International Conference on Artificial Intelligence Planning Systems, AIPS 2000
PublisherAAAI press
Number of pages10
ISBN (Print)9781577351115
Publication statusPublished - 14 Apr 2000
Event5th International Conference on Artificial Intelligence Planning Systems - Breckenridge, United States
Duration: 14 Apr 200017 Apr 2000
Conference number: 5


Conference5th International Conference on Artificial Intelligence Planning Systems
Abbreviated titleAIPS 2000
Country/TerritoryUnited States

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