pyHiPOP – Hierarchical Partial-Order Planner. Lesire, C. & Albore, A. In Proceedings of the 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020), pages 13–16, 2021. ![pyHiPOP – Hierarchical Partial-Order Planner [pdf]](https://bibbase.org/img/filetypes/pdf.svg "pdf")
Paper abstract bibtex 21 downloads PYHIPOP is a hierarchical partial-order planner, aimed at solving Hierarchical Task Network (HTN) planning problems. The current planner version is a re-coding of a version originally developed by Patrick Bechon (Bechon et al. 2014). In Bechon’s original work, HIPOP solved HTN problems with Task Insertion (TI-HTN), meaning that inserting new tasks in addition to the pure HTN decomposition was allowed during the search. Bechon proposed some heuristics for solving such problems using a hybrid algorithm: a POP (Partial Order Planning) algorithm with hierarchical task decomposition. HIPOP has also been extended to manage plan repair (Bechon et al. 2015), and multi-robot mission planning repair with communications losses (Bechon, Lesire, and Barbier 2020). PYHIPOP differs from the original HIPOP in:
• PYHIPOP is coded in pure Python3; this choice has been made to ease the integration with other tools for plan repair or interactive planning;
• PYHIPOP currently manages HTN problems only – no Task Insertion is allowed;
• PYHIPOP’s preprocessing and grounding steps have been improved to use recent works from the state of the art;
• PYHIPOP’s heuristics have been adapted, as its original heuristics worked well for TI-HTN, but not so well for pure HTN problems.
@inproceedings{Lesire2021pyHiPOP,
title = {{pyHiPOP} -- {H}ierarchical Partial-Order Planner},
author = {Lesire, Charles and Albore, Alexandre},
booktitle = {Proceedings of the 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},
year = {2021},
pages = {13--16},
url_paper = {https://ipc2020.hierarchical-task.net/publications/proceedings_p22-p25.pdf},
abstract = {PYHIPOP is a hierarchical partial-order planner, aimed at solving Hierarchical Task Network (HTN) planning problems. The current planner version is a re-coding of a version originally developed by Patrick Bechon (Bechon et al. 2014). In Bechon’s original work, HIPOP solved HTN problems with Task Insertion (TI-HTN), meaning that inserting new tasks in addition to the pure HTN decomposition was allowed during the search. Bechon proposed some heuristics for solving such problems using a hybrid algorithm: a POP (Partial Order Planning) algorithm with hierarchical task decomposition. HIPOP has also been extended to manage plan repair (Bechon et al. 2015), and multi-robot mission planning repair with communications losses (Bechon, Lesire, and Barbier 2020). PYHIPOP differs from the original HIPOP in:<br/>
• PYHIPOP is coded in pure Python3; this choice has been made to ease the integration with other tools for plan repair or interactive planning;<br/>
• PYHIPOP currently manages HTN problems only – no Task Insertion is allowed;<br/>
• PYHIPOP’s preprocessing and grounding steps have been improved to use recent works from the state of the art;<br/>
• PYHIPOP’s heuristics have been adapted, as its original heuristics worked well for TI-HTN, but not so well for pure HTN problems.}
}
Downloads: 21
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