Planning in Dynamic Environments: Extending HTNs with Nonlinear Continuous Effects

  title={Planning in Dynamic Environments: Extending HTNs with Nonlinear Continuous Effects},
  author={Matthew Molineaux and Matthew Klenk and David W. Aha},
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… CONTINUE READING
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