HTN planning in the new-age
The ideas of top-down and bottom-up HTN planning can be ported to disjunctive planners [AIPS-98]
- Abstract actions can be seen as disjunctive constraints
Add constraints to the SAT/CSP encodings of the planning problem to ensure that:
- Abstract actions are related to primitive actions through the reduction schemas [Top-down version] OR
- Each primitive actions must be part of some task reduction schema [Bottom-up version]
Puzzle: How can increasing encoding sizes lead to efficient planning?
- New constraints support simplification of the original constraints