{"type":"ScholarlyArticle","title":"Hierarchical Task Network Planning with Task Insertion and State Constraints","authors":[{"name":"Zhanhao Xiao","slug":"zhanhao-xiao","given":"Zhanhao","family":"Xiao","affiliation":"IRIT , University of Toulouse , Toulouse , France; AIRG , Western Sydney University , Penrith , Australia"},{"name":"Andreas Herzig","slug":"andreas-herzig","given":"Andreas","family":"Herzig","affiliation":"IRIT , University of Toulouse , Toulouse , France; IRIT , CNRS , Toulouse , France"},{"name":"Laurent Perrussel","slug":"laurent-perrussel","given":"Laurent","family":"Perrussel","affiliation":"IRIT , University of Toulouse , Toulouse , France"},{"name":"Hai Wan","slug":"hai-wan","given":"Hai","family":"Wan","affiliation":"School of Data and Computer Science , Sun Yat-sen University , Guangzhou , China; Guangdong Key Laboratory of Big Data Analysis and Processing , Guangzhou , China"},{"name":"Xiaoheng Su","slug":"xiaoheng-su","given":"Xiaoheng","family":"Su","affiliation":"School of Data and Computer Science , Sun Yat-sen University , Guangzhou , China"}],"abstract":"We extend hierarchical task network planning with task insertion (TIHTN) by introducing state constraints, called TIHTNS. We show that just as for TIHTN planning, all solutions of the TIHTNS planning problem can be obtained by acyclic decomposition and task insertion, entailing that its plan-existence problem is decidable without any restriction on decomposition methods. We also prove that the extension by state constraints does not increase the complexity of the plan-existence problem, which stays 2-NEXPTIME-complete, based on an acyclic progression operator. In addition, we show that TIHTNS planning covers not only the original TIHTN planning but also hierarchy-relaxed hierarchical goal network planning.","doi":"10.24963/ijcai.2017/623","url":"https://ijcai.org/proceedings/2017/623","pdf":"https://ijcai.org/proceedings/2017/0623.pdf","markdown":"https://ijcai.org/proceedings/2017/623.md","bibtex":"https://ijcai.org/proceedings/2017/bibtex/623","volume":{"slug":"2017","title":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2017","url":"https://ijcai.org/proceedings/2017/","year":2017,"location":"Melbourne, Australia","dates":"19-25 August 2017","editors":"Carles Sierra","isbn":"978-0-9992411-0-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2017"},"section":"Planning and Scheduling","track":"Main track","number":623,"pages":{"first":4463,"last":4469},"keywords":["Planning and Scheduling: Hierarchical planning","Planning and Scheduling: Theoretical Foundations of Planning"],"videos":[],"references":[{"position":1,"raw":"[Alford et al., 2015a] Ron Alford, Pascal Bercher, and David W Aha. 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