Probabilistic contingent planning based on HTN for high-quality plans

• URL: http://arxiv.org/abs/2308.06922v2
• Date: Thu, 28 Sep 2023 06:53:01 GMT
• Title: Probabilistic contingent planning based on HTN for high-quality plans
• Authors: Peng Zhao
• Abstract summary: We propose a contingent Hierarchical Task Network (HTN) planner, named High-Quality Contingent Planner (HQCP) HQCP generates high-quality plans in the partially observable environment. The formalisms in HTN planning are extended into partial observability and are evaluated regarding the cost.
• Score: 8.23558342809427
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Deterministic planning assumes that the planning evolves along a fully predictable path, and therefore it loses the practical value in most real projections. A more realistic view is that planning ought to take into consideration partial observability beforehand and aim for a more flexible and robust solution. What is more significant, it is inevitable that the quality of plan varies dramatically in the partially observable environment. In this paper we propose a probabilistic contingent Hierarchical Task Network (HTN) planner, named High-Quality Contingent Planner (HQCP), to generate high-quality plans in the partially observable environment. The formalisms in HTN planning are extended into partial observability and are evaluated regarding the cost. Next, we explore a novel heuristic for high-quality plans and develop the integrated planning algorithm. Finally, an empirical study verifies the effectiveness and efficiency of the planner both in probabilistic contingent planning and for obtaining high-quality plans.

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