TitlePlanning in Dynamic Environments: Extending HTNs with Nonlinear Continuous Effects
Publication TypeConference Proceedings
Year of Conference2010
AuthorsMolineaux, M, Klenk, M, Aha, DW
Conference NameProceedings of the Twenty-Fourth AAAI Conference on Artificial Intelligence
Date Published07/2010
PublisherAAAI Press
Conference LocationAtlanta, GA

Planning in dynamic continuous environments requires
reasoning about nonlinear continuous effects, which
previous Hierarchical Task Network (HTN) planners do
not support. In this paper, we extend an existing HTN
planner with a new state projection algorithm. To our
knowledge, this is the first HTN planner that can reason
about nonlinear continuous effects. We use a wait action to
instruct this planner to consider continuous effects in a
given state. We also introduce a new planning domain to
demonstrate the benefits of planning with nonlinear
continuous effects. We compare our approach with a linear
continuous effects planner and a discrete effects HTN
planner on a benchmark domain, which reveals that its
additional costs are largely mitigated by domain
knowledge. Finally, we present an initial application of
this algorithm in a practical domain, a Navy training
simulation, illustrating the utility of this approach for
planning in dynamic continuous environments.

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hierarchical network planning
dynamic environments