Shawn Keen

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Hybrid Planning combines Hierarchical Task Network (HTN) planning with concepts known from Partial-Order Causal-Link (POCL) planning. We introduce novel heuristics for Hybrid Planning that estimate the number of necessary modifications to turn a partial plan into a solution. These estimates are based on the task decomposition graph that contains all(More)
and primitive. Revisiting the discrimination between mandatory and optional tasks, Elkawkagy et al. (2012) introduced a number of strategies that are based on these considerations. The sets for optional tasks O(t) and O∗(t) are used to calculate the number of (abstract) subtasks of a given abstract task. For a better overview, we define the relevant(More)
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