RA Lecture Note: Symbolic Planning Continuous

Tools Collection

Monitoring
Hierarchical planning
Hierarchical task network (HTN)
High level action (HLA)
refinement

Template

<!-- refinements -->
Refinment({ActionName}(variable1, variable2),
    Precond: {constraints}
    Steps: {action list}
)

Monitoring and replanning in unbounded num-determinism

Execution monitoring includes action monitoring, plan monitoring.

Hierarchical Planning

hierarchical decomposition, Hierarchical task network (HTN) planning: initial plan provided only high-level description, refined by action refinements. refinement process continued until plan consists only of primitive actions.

High level action (HLA) has (at least) one refinement into a sequence of actions. If they’re all primitive, then that’s an implementation of the HLA.

High-level Plans (HLP) are a sequence of HLAs. A HLP achieves the goal from an initial state if at least one of its implementations does this. Not all implementations of an HLP have to reach the goal state!