Planning in Answer Set Programming using Ordered Task Decomposition

abstract. In this paper we investigate a formalism for solving planning problems based on ordered task decomposition using Answer Set Programming (ASP). Our planning methodology is an adaptation of Hierarchical Task Network (HTN) planning, an approach that has led to some very efficient planners. The ASP paradigm evolved out of the stable semantics for logic programs in recent years and is strongly related to nonmonotonic logics. It also led to various very efficient implementations (Smodels, DLV). While all previous approaches for using ASP for planning rely on action-based planning, we consider for the first time a formulation of HTN planning as described in the SHOP planning system and define a systematic translation method from SHOP’s representation of a planning problem into a logic program with negation. We show that our translation is sound and complete: answer sets of the logic program obtained by our translation correspond exactly to the solutions of the planning problem. ...

• Type: Conference
• Year: 2005
• Where: BIRTHDAY
• Authors: Jürgen Dix, Ugur Kuter, Dana S. Nau
• Keywords: Applied Computing, BIRTHDAY 2005, HTN Planning, Planning, Planning Problem