More Succinct Grounding of HTN Planning Problems– Preliminary Results

Abstract

Planning systems usually operate on grounded representations of the planning problems during search. Further, planners that use translations into other combinatorial problems also often perform their translations based on a grounded model. Planning models, however, are commonly defined in a lifted formalism. As such, one of the first preprocessing steps a planner performs is to generate a grounded representation. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings than the previously published method. We expect this decrease in size to lead to more efficient planners.