Tracking Branches in Trees - A Propositional Encoding for Solving Partially-Ordered HTN Planning Problems

G. Behnke, D. Höller, Susanne Biundo-Stephan
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引用次数: 21

Abstract

Planning via SAT has proven to be an efficient and versatile planning technique. Its declarative nature allows for an easy integration of additional constraints and can harness the progress made in the SAT community without the need to adapt the planner. However, there has been only little attention to SAT planning for hierarchical domains. To ease encoding, existing approaches for HTN planning require additional assumptions, like non-recursiveness or totally-ordered methods. Both limit the expressiveness of HTN planning severely. We propose the first propositional encodings which are able to solve general, i.e., partially-ordered, HTN planning problems, based on a previous encoding for totally-ordered problems. The empirical evaluation of our encoding shows that it outperforms existing HTN planners significantly.
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树的分支跟踪——解决部分有序HTN规划问题的命题编码
通过SAT进行规划已被证明是一种高效和通用的规划技术。它的声明性允许简单地集成额外的约束,并且可以利用SAT社区中取得的进展,而不需要调整计划器。然而,很少有人关注分层领域的SAT规划。为了简化编码,现有的HTN规划方法需要额外的假设,比如非递归性或全有序方法。两者都严重限制了HTN规划的表现力。我们提出了第一个命题编码,它能够解决一般的,即,部分有序,HTN规划问题,基于先前的编码全有序问题。对我们编码的实证评估表明,它明显优于现有的HTN规划器。
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