UMCP: A Sound and Complete Procedure for Hierarchical Task-network Planning

One big obstacle to understanding the nature of hierarchical task network (HTN) planning has been the lack of a clear theoretical framework. In particular, no one has yet presented a clear and concise HTN algorithm that is sound and complete. In this paper, we present a formal syntax and semantics for HTN planning. Based on this syntax and semantics, we are able to define an algorithm for HTN planning and prove it sound and complete.

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