Adding time and intervals to procedural and hierarchical control specifications
Tran Cao Son, Chitta R. Baral, Le-Chi Tuan · 2004
In this paper we introduce the language Golog+HTNTI for specifying control using procedural and HTN-based con-structs together with deadlines and time restrictions. Our lan-guage starts with features from GOLOG and HTN and ex-tends them so that we can deal with actions with duration by being able to specify time intervals between the start (or end) of an action (or a program) and the start (or end) of another action (or program). We then discuss an off-line interpreter based on the answer set planning paradigm such that the an-swer sets of the logic program have a one to one correspon-dence with the traces of the Golog+HTNTI specification.