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Towards Combining HTN Planning and Geometric Task Planning

Lavindra de Silva 1 Amit Kumar Pandey 1 Mamoun Gharbi 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In this paper we present an interface between a symbolic planner and a geometric task planner, which is different to a standard trajectory planner in that the former is able to perform geometric reasoning on abstract entities-tasks. We believe that this approach facilitates a more principled interface to symbolic planning, while also leaving more room for the geometric planner to make independent decisions. We show how the two planners could be interfaced, and how their planning and backtracking could be interleaved. We also provide insights for a methodology for using the combined system, and experimental results to use as a benchmark with future extensions to both the combined system, as well as to the geometric task planner.
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Submitted on : Wednesday, January 9, 2019 - 6:12:41 PM
Last modification on : Thursday, June 10, 2021 - 3:06:21 AM


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Lavindra de Silva, Amit Kumar Pandey, Mamoun Gharbi, Rachid Alami. Towards Combining HTN Planning and Geometric Task Planning. RSS Workshop on Combined Robot Motion Planning and AI Planning for Practical Applications, 2013, Berlin, Germany. ⟨hal-01976143⟩



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