Towards Combining HTN Planning and Geometric Task Planning

  title={Towards Combining HTN Planning and Geometric Task Planning},
  author={Lavindra de Silva and Amit Kumar Pandey and Mamoun Gharbi and Rachid Alami},
In this paper we present an interface between a symbolic planner and a geometric task planner, which is different to a standard trajectory planner in that the former is able to perform geometric reasoning on abstract entities—tasks. We believe that this approach facilitates a more principled interface to symbolic planning, while also leaving more room for the geometric planner to make independent decisions. We show how the two planners could be interfaced, and how their planning and… CONTINUE READING
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