SHOP2: An HTN Planning System

@article{Au2003SHOP2AH,
  title={SHOP2: An HTN Planning System},
  author={T. Au and O. Ilghami and U. Kuter and J. William Murdock and D. Nau and D. Wu and F. Yaman},
  journal={J. Artif. Intell. Res.},
  year={2003},
  volume={20},
  pages={379-404}
}
The SHOP2 planning system received one of the awards for distinguished performance in the 2002 International Planning Competition. This paper describes the features of SHOP2 which enabled it to excel in the competition, especially those aspects of SHOP2 that deal with temporal and metric planning domains. 
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