Many approaches

• HTN planners (SIPE, NONLIN, NOAH etc)

  • Also SHOP* etc..

• SAT planners

  • HTN SAT, SATPLAN+Dom

• Refinement planners

  • TLPlan*
  • Prodigy+EBL, UCPOP+EBL, DerSNLP+EBL ..

• Customization frameworks

  • CLAY

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