UMCP: a sound and complete procedure for hierarchical task-network planning
Kutluhan Erol, James Hendler, Dana S. Nau · 1994
One big obstacle to understanding the nature of hierarchical task network (HTN) planning has been the lack of a clear theoretical framework. In particular, no one has yet presented a clear and concise HTN algorithm that is sound and complete. In this paper, we present a formal syntax and semantics for HTN planning. Based on this syntax and semantics, we are able to define an algorithm for HTN planning and prove it sound and complete.