Hybrid Planning for Partially Hierarchical Domains
The Tale of Two Planning Paradigms
UCP as a framework for integration
Overview
UCP: Plan Representation
UCP: Planning Template
PPT Slide
HTN Planning
Partial hierarchicalization
Modeling Reduction Schemas
Semantics of plans with non-primitive actions
Extending UCP Planning Template
Generalizing Plan-space Refinement: HPS
Systematicity
Respecting User-intent
Avoiding non-minimal plans
HPS continued… Solutions
Phantom Establishments
Changes to Conflict Resolution
HPS refinement: Summary
Related Work
Contributions
Email: rao@asu.edu
Home Page: http://rakaposhi.eas.asu.edu