More Succinct Grounding of HTN Planning Problems -- Preliminary Results

Gregor Behnke, Daniel Höller, Pascal Bercher, Susanne Biundo

Keywords: HTN planning, grounding

Abstract: Planning systems usually operate on grounded representations of the planning problems during search. Planning models, however, are commonly defined in a lifted formalism. As such, one of the first preprocessing steps a planner performs is to generate a grounded representation. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings than the previously published method. We expect this decrease in size to lead to more efficient planners.

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