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HATP: Hierarchical Agent-based Task Planner: Demonstration

Raphaël Lallement 1 Lavindra de Silva 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Hierarchical Task Network (HTN) planning is a proven approach to solving complex, real world planning problems more efficiently than planning from first principles when “standard operating procedures” (or “recipes”) can be supplied by the user. By planning for tasks in the same order that they are later executed, total-order HTN planners always know the complete state of the world at each planning step. This enables writing more expressive planning domains than what is possible in partial-order HTN planning, such as preconditions with calls to external procedures. Such features have facilitated the use of total-order HTN planners in agent systems and seen them excel in AI games. This paper describes the Hierarchical Agent-based Task Planner (HATP), a total-order HTN planner. Since its first implementation, HATP has had various extensions and integrations over the years, such as support for splitting a solution into multiple streams and assigning them to the agents in the domain; modelling their beliefs as distinct world states; allowing “social rules” to be included by the user to define what kind of agent behaviour is appropriate; allowing tasks to be planned by taking the human’s safety and comfort into account; and to interleave HTN and geometric planning. Since many of these implementations have remained prototypes, we have significantly enhanced them as well as HATP itself, and integrated them into a stand-alone HATP distribution, which is now available as open source software (under a BSD 2-Clause License). This paper presents some of our recent improvements to HATP, and gives an overview of its user-friendly language, which treats agents as distinct entities; its mechanisms for effective control over decomposition; and its integration into our robotics framework
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Contributor : Aurélie Clodic <>
Submitted on : Tuesday, December 4, 2018 - 2:39:00 PM
Last modification on : Thursday, June 10, 2021 - 3:02:15 AM


  • HAL Id : hal-01944178, version 1


Raphaël Lallement, Lavindra de Silva, Rachid Alami. HATP: Hierarchical Agent-based Task Planner: Demonstration. International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Jul 2018, Stockholm, Sweden. ⟨hal-01944178⟩



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