Multiple Plans Oriented OTD Algorithm for HTN Planning
Yiping Lu · Journal of Beijing Jiaotong University · 2009
Ordered task decomposition(OTD) algorithm is an efficient algorithm for hierarchical task network(HTN) planning.However,since the backtracking process for plan generation is a standalone computing process,the problem solving process can only produce at most one final plan.In this paper,an improved OTD algorithm is proposed to produce multiple plans efficiently.This algorithm adopts segmented backtracking method,which can utilize pieces of action-sequence produced during search process,and can build a number of plans quickly.This algorithm can provide powerful support to optimized plan generation and plan evaluation in OTD-based HTN planning.