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The HATP hierarchical planner: Formalisation and an initial study of its usability and practicality

Lavindra De Silva 1 Raphaël Lallement 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : HTN planners have generally relied on specialised languages for domain and problem representations. To facilitate adoption by other communities such as robotics, however, and integration with real world applications written in standard programming languages, we need HTN planners that are based on more familiar concepts from structured programming, and that come ready with features supporting integration. In this paper, we demonstrate how the HATP (Hierarchical Agent-based Task Planner) HTN planner offers such “syntactic sugar” and some of these features. Moreover, since it has a conceptually distinct syntax compared to traditional HTN planners, we also develop a formalism to unambiguously capture HATP's syntax and an important subset of its semantics, which we then use to compare against the formalism of a well understood family of HTN planners and to show that the former is sound. Finally, we demonstrate that despite quite possibly using “heavier” data structures to naturally capture HATP's syntax/semantics, and thereby facilitate extensions to HATP and integration with other applications, the implementation still performs acceptably.
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Submitted on : Friday, December 14, 2018 - 11:06:06 AM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM



Lavindra De Silva, Raphaël Lallement, Rachid Alami. The HATP hierarchical planner: Formalisation and an initial study of its usability and practicality. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. ⟨10.1109/IROS.2015.7354301⟩. ⟨hal-01955208⟩



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