Exploiting Task Decomposition Graphs for Hierarchical Planning


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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