A framework for integrating HTN and action-based planning paradigms
Can handle partially hierarchicalized domains in a principled way
Explains the surface differences between HTN and action-based planners
- Differing notions of completeness
- Phantom establishments, downward unlinearizability..
Supports cross-fertilization of ideas
- E.g. Ported SATPLAN ideas to HTN planning
- [Mali & Kambhampati; AIPS-98]