var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"bib\":\"bercher.net/bibtex/various.bib\",\"theme\":\"default\",\"fullnames\":\"1\",\"jsonp\":\"1\",\"hidemenu\":\"1\",\"host\":\"bibbase.org\"},\n      data: [{\"bibtype\":\"misc\",\"type\":\"misc\",\"author\":[{\"firstnames\":[\"Conny\"],\"propositions\":[],\"lastnames\":[\"Olz\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"Experimental Results for the SoCS 2023 Paper ``A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements''\",\"year\":\"2023\",\"copyright\":\"Creative Commons Attribution 4.0 International\",\"doi\":\"10.5281/zenodo.7900414\",\"publisher\":\"Zenodo\",\"bibtex\":\"@Misc{Olz2023ExperimentalData,\\n  author       = {Conny Olz and Pascal Bercher},\\n  title        = {Experimental Results for the SoCS 2023 Paper ``A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements''},\\n  year         = {2023},\\n  copyright    = {Creative Commons Attribution 4.0 International},\\n  doi          = {10.5281/zenodo.7900414},\\n  publisher    = {Zenodo}\\n}\\n\\n\",\"author_short\":[\"Olz, C.\",\"Bercher, P.\"],\"key\":\"Olz2023ExperimentalData\",\"id\":\"Olz2023ExperimentalData\",\"bibbaseid\":\"olz-bercher-experimentalresultsforthesocs2023paperalookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"misc\",\"author\":[{\"firstnames\":[\"Kayleigh\"],\"propositions\":[],\"lastnames\":[\"Sleath\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"Experimental Results for the PRICAI 2023 Paper ``Detecting AI Planning Modelling Mistakes – Potential Errors and Benchmark Domains''\",\"year\":\"2023\",\"copyright\":\"Creative Commons Attribution 4.0 International\",\"doi\":\"10.5281/zenodo.8249689\",\"publisher\":\"Zenodo\",\"bibtex\":\"@Misc{Sleath2023ExperimentalData,\\n  author       = {Kayleigh Sleath and Pascal Bercher},\\n  title        = {Experimental Results for the PRICAI 2023 Paper ``Detecting AI Planning Modelling Mistakes -- Potential Errors and Benchmark Domains''},\\n  year         = {2023},\\n  copyright    = {Creative Commons Attribution 4.0 International},\\n  doi          = {10.5281/zenodo.8249689},\\n  publisher    = {Zenodo}\\n}\\n\\n\",\"author_short\":[\"Sleath, K.\",\"Bercher, P.\"],\"key\":\"Sleath2023ExperimentalData\",\"id\":\"Sleath2023ExperimentalData\",\"bibbaseid\":\"sleath-bercher-experimentalresultsforthepricai2023paperdetectingaiplanningmodellingmistakespotentialerrorsandbenchmarkdomains-2023\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"misc\",\"author\":[{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Alban\"],\"propositions\":[],\"lastnames\":[\"Grastien\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"Experimental Results for the AAAI 2023 Paper ``Towards Automated Modeling Assistance: An Efficient Approach for Repairing Flawed Planning Domains''\",\"year\":\"2023\",\"copyright\":\"Creative Commons Attribution 4.0 International\",\"doi\":\"10.5281/zenodo.7690016\",\"publisher\":\"Zenodo\",\"bibtex\":\"@Misc{Lin2023RepairingClassicalModelsExperimentalResults,\\n  author       = {Songtuan Lin and Alban Grastien and Pascal Bercher},\\n  title        = {Experimental Results for the AAAI 2023 Paper ``Towards Automated Modeling Assistance: An Efficient Approach for Repairing Flawed Planning Domains''},\\n  year         = {2023},\\n  copyright    = {Creative Commons Attribution 4.0 International},\\n  doi          = {10.5281/zenodo.7690016},\\n  publisher    = {Zenodo}\\n}\\n\\n\",\"author_short\":[\"Lin, S.\",\"Grastien, A.\",\"Bercher, P.\"],\"key\":\"Lin2023RepairingClassicalModelsExperimentalResults\",\"id\":\"Lin2023RepairingClassicalModelsExperimentalResults\",\"bibbaseid\":\"lin-grastien-bercher-experimentalresultsfortheaaai2023papertowardsautomatedmodelingassistanceanefficientapproachforrepairingflawedplanningdomains-2023\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"misc\",\"author\":[{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Simona\"],\"propositions\":[],\"lastnames\":[\"Ondrčková\"],\"suffixes\":[]},{\"firstnames\":[\"Roman\"],\"propositions\":[],\"lastnames\":[\"Barták\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"Experimental Results for the AAAI 2023 Paper ``On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm''\",\"year\":\"2023\",\"copyright\":\"Creative Commons Attribution 4.0 International\",\"doi\":\"10.5281/zenodo.7704558\",\"publisher\":\"Zenodo\",\"bibtex\":\"@Misc{Lin2023ExperimentalResultsTOVerification,\\n  author       = {Songtuan Lin and Gregor Behnke and Simona Ondr\\\\v{c}kov{\\\\'{a}} and Roman Bart{\\\\'{a}}k and Pascal Bercher},\\n  title        = {Experimental Results for the AAAI 2023 Paper ``On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm''},\\n  year         = {2023},\\n  copyright    = {Creative Commons Attribution 4.0 International},\\n  doi          = {10.5281/zenodo.7704558},\\n  publisher    = {Zenodo},\\n}\\n\\n\\n\\n% PROCEEDINGS OF VARIOUS KINDS\\n\\n%% ICAPS DOCTORAL CONSORTIUM\\n\\n\",\"author_short\":[\"Lin, S.\",\"Behnke, G.\",\"Ondrčková, S.\",\"Barták, R.\",\"Bercher, P.\"],\"key\":\"Lin2023ExperimentalResultsTOVerification\",\"id\":\"Lin2023ExperimentalResultsTOVerification\",\"bibbaseid\":\"lin-behnke-ondrkov-bartk-bercher-experimentalresultsfortheaaai2023paperontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2023\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"title\":\"Proceedings of the 20th ICAPS Doctoral Consortium (ICAPS DC 2022)\",\"year\":\"2022\",\"editor\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Sara\"],\"propositions\":[],\"lastnames\":[\"Bernardini\"],\"suffixes\":[]}],\"abstract\":\"This is the proceedings of the ICAPS Doctoral Consortium 2022.\",\"url_website\":\"https://icaps22.icaps-conference.org/dc-2022\",\"url_proceedings\":\"https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf\",\"bibtex\":\"@Proceedings{ICAPS-DC-2022,\\n  title           = {Proceedings of the 20th ICAPS Doctoral Consortium (ICAPS DC 2022)},\\n  year            = {2022},\\n  editor          = {Pascal Bercher and Sara Bernardini},\\n  abstract        = {This is the proceedings of the ICAPS Doctoral Consortium 2022.},\\n  url_website     = {https://icaps22.icaps-conference.org/dc-2022},\\n  url_proceedings = {https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf}\\n}\\n\\n%% IPC Booklet\\n\\n\",\"editor_short\":[\"Bercher, P.\",\"Bernardini, S.\"],\"key\":\"ICAPS-DC-2022\",\"id\":\"ICAPS-DC-2022\",\"bibbaseid\":\"bercher-bernardini-proceedingsofthe20thicapsdoctoralconsortiumicapsdc2022-2022\",\"role\":\"editor\",\"urls\":{\" website\":\"https://icaps22.icaps-conference.org/dc-2022\",\" proceedings\":\"https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":12,\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"title\":\"Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020)\",\"year\":\"2021\",\"editor\":[{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"url_ipc-booklet\":\"https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf\",\"abstract\":\"<p>Since its first edition in 1998, the International Planning Competition (IPC) has been an integral event of the planning community. For more than 20 years, it established unified input languages for planners, enabled an objective comparison between them based on an accessible benchmark set. The IPC drove the development of planners and fostered research. Thus, the IPC enabled planning researchers to compare their own work against the work of others – not only within the competition, but also outside of it. Due to the IPC almost all contemporary planners understand (some form of) PDDL, which allows for using IPC benchmarks across a multitude of planners.</p> <p>The first two IPCs had – in addition to the regular track – a track on hand-tailored planners in which the planners could be provided with additional information or select their algorithms based on the input domain. Among these planners, some used Hierarchical Planning – most notably SHOP. Following the second IPC in 2000 the hand-tailored track was discontinued. Hierarchical planning was thereafter not part of the IPC any more. Research in the field however continued.</p> <p>The International Planning Competition 2020 features for the first time a track dedicated to hierarchical planning. In contrast to the previous track on hand-tailored planners we don't want to evaluate how good planners can become given any possible additional knowledge, but ask how well planners can exploit a given hierarchical refinement structure. We therefore faced several unique challenges. We had to establish a common input language for all planners such that all of them operate on the very same model. We also had to specify a plan-output format and provide a verifier, since we had to ensure that the found plans satisfy the decompositional structure of the given task hierarchy. Further, we had to gather a comprehensive set of benchmark domains, since no such set existed before. We hope that this first competition for Hierarchical Task Network planners will foster future research into hierarchical planning and provide a common basis for many researchers – by establishing a unified input language, a common benchmark set, and an evaluation of the state of the art in HTN planning. We hope that many future editions of this competition will follow.</p> Gregor, Daniel, and Pascal<br/> Organizers of the IPC 2020,<br/> May 2021\",\"bibtex\":\"@proceedings{IPC2020Booklet,\\n  title                    = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},\\n  year                     = {2021},\\n  editor                   = {Gregor Behnke and Daniel H{\\\\\\\"o}ller and Pascal Bercher},\\n  url_IPC-Booklet          = {https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf},\\n  abstract                 = {<p>Since its first edition in 1998, the International Planning Competition (IPC) has been an integral event of the planning community. For more than 20 years, it established unified input languages for planners, enabled an objective comparison between them based on an accessible benchmark set. The IPC drove the development of planners and fostered research. Thus, the IPC enabled planning researchers to compare their own work against the work of others -- not only within the competition, but also outside of it. Due to the IPC almost all contemporary planners understand (some form of) PDDL, which allows for using IPC benchmarks across a multitude of planners.</p>\\n\\n<p>The first two IPCs had -- in addition to the regular track -- a track on hand-tailored planners in which the planners could be provided with additional information or select their algorithms based on the input domain. Among these planners, some used Hierarchical Planning -- most notably SHOP. Following the second IPC in 2000 the hand-tailored track was discontinued. Hierarchical planning was thereafter not part of the IPC any more. Research in the field however continued.</p>\\n\\n<p>The International Planning Competition 2020 features for the first time a track dedicated to hierarchical planning. In contrast to the previous track on hand-tailored planners we don't want to evaluate how good planners can become given any possible additional knowledge, but ask how well planners can exploit a given hierarchical refinement structure. We therefore faced several unique challenges. We had to establish a common input language for all planners such that all of them operate on the very same model. We also had to specify a plan-output format and provide a verifier, since we had to ensure that the found plans satisfy the decompositional structure of the given task hierarchy. Further, we had to gather a comprehensive set of benchmark domains, since no such set existed before. We hope that this first competition for Hierarchical Task Network planners will foster future research into hierarchical planning and provide a common basis for many researchers -- by establishing a unified input language, a common benchmark set, and an evaluation of the state of the art in HTN planning. We hope that many future editions of this competition will follow.</p>\\n\\nGregor, Daniel, and Pascal<br/>\\nOrganizers of the IPC 2020,<br/>\\nMay 2021}\\n}\\n\\n%% WIPC WORKSHOP\\n\\n\",\"editor_short\":[\"Behnke, G.\",\"Höller, D.\",\"Bercher, P.\"],\"key\":\"IPC2020Booklet\",\"id\":\"IPC2020Booklet\",\"bibbaseid\":\"behnke-hller-bercher-proceedingsof10thinternationalplanningcompetitionplanneranddomainabstractshierarchicaltasknetworkhtnplanningtrackipc2020-2021\",\"role\":\"editor\",\"urls\":{\" ipc-booklet\":\"https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":6,\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"title\":\"Proceedings of the Workshop on the International Planning Competition (WIPC 2021)\",\"editor\":[{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"year\":\"2021\",\"url_proceedings\":\"https://bercher.net/publications/2021/WIPC2021Proceedings.pdf\",\"url_workshop\":\"https://icaps21.icaps-conference.org/workshops/WIPC/\",\"bibtex\":\"@proceedings{WIPC2021Proceedings,\\n  Title           = {Proceedings of the Workshop on the International Planning Competition (WIPC 2021)},\\n  editor          = {Gregor Behnke and Daniel H{\\\\\\\"o}ller and Pascal Bercher},\\n  Year            = {2021},\\n  url_Proceedings = {https://bercher.net/publications/2021/WIPC2021Proceedings.pdf},\\n  url_Workshop    = {https://icaps21.icaps-conference.org/workshops/WIPC/}\\n}\\n\\n%% HPLAN WORKSHOP\\n\\n\",\"editor_short\":[\"Behnke, G.\",\"Höller, D.\",\"Bercher, P.\"],\"key\":\"WIPC2021Proceedings\",\"id\":\"WIPC2021Proceedings\",\"bibbaseid\":\"behnke-hller-bercher-proceedingsoftheworkshopontheinternationalplanningcompetitionwipc2021-2021\",\"role\":\"editor\",\"urls\":{\" proceedings\":\"https://bercher.net/publications/2021/WIPC2021Proceedings.pdf\",\" workshop\":\"https://icaps21.icaps-conference.org/workshops/WIPC/\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":3,\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"editor\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Julia\"],\"propositions\":[],\"lastnames\":[\"Wichlacz\"],\"suffixes\":[]},{\"firstnames\":[\"Ron\"],\"propositions\":[],\"lastnames\":[\"Alford\"],\"suffixes\":[]}],\"title\":\"Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)\",\"year\":\"2023\",\"url_website\":\"http://hplan2023.hierarchical-task.net\",\"url_proceedings\":\"https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf\",\"bibtex\":\"@Proceedings{HPlan2023proceedings,\\n  editor          = {Pascal Bercher and Daniel H\\\\\\\"oller and Julia Wichlacz and Ron Alford},\\n  title           = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},\\n  year            = {2023},\\n  url_website     = {http://hplan2023.hierarchical-task.net},\\n  url_proceedings = {https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf}\\n}\\n\\n\",\"editor_short\":[\"Bercher, P.\",\"Höller, D.\",\"Wichlacz, J.\",\"Alford, R.\"],\"key\":\"HPlan2023proceedings\",\"id\":\"HPlan2023proceedings\",\"bibbaseid\":\"bercher-hller-wichlacz-alford-proceedingsofthe6thicapsworkshoponhierarchicalplanninghplan2023-2023\",\"role\":\"editor\",\"urls\":{\" website\":\"http://hplan2023.hierarchical-task.net\",\" proceedings\":\"https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":26,\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"editor\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Jane\",\"Jean\"],\"propositions\":[],\"lastnames\":[\"Kiam\"],\"suffixes\":[]},{\"firstnames\":[\"Arthur\"],\"propositions\":[],\"lastnames\":[\"Bit-Monnot\"],\"suffixes\":[]},{\"firstnames\":[\"Ron\"],\"propositions\":[],\"lastnames\":[\"Alford\"],\"suffixes\":[]}],\"title\":\"Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)\",\"year\":\"2022\",\"url_website\":\"http://hplan2022.hierarchical-task.net\",\"url_proceedings\":\"https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf\",\"bibtex\":\"@Proceedings{HPlan2022proceedings,\\n  editor          = {Pascal Bercher and Jane Jean Kiam and Arthur Bit-Monnot and Ron Alford},\\n  title           = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},\\n  year            = {2022},\\n  url_website     = {http://hplan2022.hierarchical-task.net},\\n  url_proceedings = {https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf}\\n}\\n\\n\",\"editor_short\":[\"Bercher, P.\",\"Kiam, J. J.\",\"Bit-Monnot, A.\",\"Alford, R.\"],\"key\":\"HPlan2022proceedings\",\"id\":\"HPlan2022proceedings\",\"bibbaseid\":\"bercher-kiam-bitmonnot-alford-proceedingsofthe5thicapsworkshoponhierarchicalplanninghplan2022-2022\",\"role\":\"editor\",\"urls\":{\" website\":\"http://hplan2022.hierarchical-task.net\",\" proceedings\":\"https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":27,\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"title\":\"Proceedings of the 4thd ICAPS Workshop on Hierarchical Planning (HPlan 2021)\",\"editor\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Jane\",\"Jean\"],\"propositions\":[],\"lastnames\":[\"Kiam\"],\"suffixes\":[]},{\"firstnames\":[\"Zhanhao\"],\"propositions\":[],\"lastnames\":[\"Xiao\"],\"suffixes\":[]},{\"firstnames\":[\"Ron\"],\"propositions\":[],\"lastnames\":[\"Alford\"],\"suffixes\":[]}],\"year\":\"2021\",\"url_proceedings\":\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf\",\"url_workshop\":\"http://hplan2021.hierarchical-task.net\",\"bibtex\":\"@proceedings{HPlan2021proceedings,\\n  Title           = {Proceedings of the 4thd ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\\n  editor          = {Pascal Bercher and Jane Jean Kiam and Zhanhao Xiao and Ron Alford},\\n  Year            = {2021},\\n  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf},\\n  url_Workshop    = {http://hplan2021.hierarchical-task.net}\\n}\\n\\n\",\"editor_short\":[\"Bercher, P.\",\"Kiam, J. J.\",\"Xiao, Z.\",\"Alford, R.\"],\"key\":\"HPlan2021proceedings\",\"id\":\"HPlan2021proceedings\",\"bibbaseid\":\"bercher-kiam-xiao-alford-proceedingsofthe4thdicapsworkshoponhierarchicalplanninghplan2021-2021\",\"role\":\"editor\",\"urls\":{\" proceedings\":\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf\",\" workshop\":\"http://hplan2021.hierarchical-task.net\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"title\":\"Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)\",\"editor\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Roman\"],\"propositions\":[],\"lastnames\":[\"Barták\"],\"suffixes\":[]},{\"firstnames\":[\"Ron\"],\"propositions\":[],\"lastnames\":[\"Alford\"],\"suffixes\":[]}],\"year\":\"2020\",\"url_proceedings\":\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf\",\"url_workshop\":\"http://hplan2020.hierarchical-task.net\",\"bibtex\":\"@proceedings{HPlan2020proceedings,\\n  Title           = {Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)},\\n  editor          = {Pascal Bercher and Daniel H{\\\\\\\"o}ller and Roman Bart{\\\\'a}k and Ron Alford},\\n  Year            = {2020},\\n  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf},\\n  url_Workshop    = {http://hplan2020.hierarchical-task.net}\\n}\\n\\n\",\"editor_short\":[\"Bercher, P.\",\"Höller, D.\",\"Barták, R.\",\"Alford, R.\"],\"key\":\"HPlan2020proceedings\",\"id\":\"HPlan2020proceedings\",\"bibbaseid\":\"bercher-hller-bartk-alford-proceedingsofthe3rdicapsworkshoponhierarchicalplanninghplan2020-2020\",\"role\":\"editor\",\"urls\":{\" proceedings\":\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf\",\" workshop\":\"http://hplan2020.hierarchical-task.net\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"title\":\"Proceedings of the 2nd ICAPS Workshop on Hierarchical Planning (HPlan 2019)\",\"editor\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Vikas\"],\"propositions\":[],\"lastnames\":[\"Shivashankar\"],\"suffixes\":[]},{\"firstnames\":[\"Ron\"],\"propositions\":[],\"lastnames\":[\"Alford\"],\"suffixes\":[]}],\"year\":\"2019\",\"url_proceedings\":\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf\",\"url_workshop\":\"http://hplan2019.hierarchical-task.net\",\"bibtex\":\"@proceedings{HPlan2019proceedings,\\n  Title           = {Proceedings of the 2nd ICAPS Workshop on Hierarchical Planning (HPlan 2019)},\\n  editor          = {Pascal Bercher and Gregor Behnke and Vikas Shivashankar and Ron Alford},\\n  Year            = {2019},\\n  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf},\\n  url_Workshop    = {http://hplan2019.hierarchical-task.net}\\n}\\n\\n\",\"editor_short\":[\"Bercher, P.\",\"Behnke, G.\",\"Shivashankar, V.\",\"Alford, R.\"],\"key\":\"HPlan2019proceedings\",\"id\":\"HPlan2019proceedings\",\"bibbaseid\":\"bercher-behnke-shivashankar-alford-proceedingsofthe2ndicapsworkshoponhierarchicalplanninghplan2019-2019\",\"role\":\"editor\",\"urls\":{\" proceedings\":\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf\",\" workshop\":\"http://hplan2019.hierarchical-task.net\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"proceedings\",\"type\":\"proceedings\",\"title\":\"Proceedings of the 1st ICAPS Workshop on Hierarchical Planning (HPlan 2018)\",\"editor\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]},{\"firstnames\":[\"Ron\"],\"propositions\":[],\"lastnames\":[\"Alford\"],\"suffixes\":[]}],\"year\":\"2018\",\"url_proceedings\":\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf\",\"url_workshop\":\"http://hplan2018.hierarchical-task.net\",\"bibtex\":\"@proceedings{HPlan2018proceedings,\\n  Title           = {Proceedings of the 1st ICAPS Workshop on Hierarchical Planning (HPlan 2018)},\\n  editor          = {Pascal Bercher and Daniel H{\\\\\\\"o}ller and Susanne Biundo and Ron Alford},\\n  Year            = {2018},\\n  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf},\\n  url_Workshop    = {http://hplan2018.hierarchical-task.net}\\n}\\n\\n\\n\\n% NORMAL PAPERS (of various kind)\\n\\n\",\"editor_short\":[\"Bercher, P.\",\"Höller, D.\",\"Biundo, S.\",\"Alford, R.\"],\"key\":\"HPlan2018proceedings\",\"id\":\"HPlan2018proceedings\",\"bibbaseid\":\"bercher-hller-biundo-alford-proceedingsofthe1sticapsworkshoponhierarchicalplanninghplan2018-2018\",\"role\":\"editor\",\"urls\":{\" proceedings\":\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf\",\" workshop\":\"http://hplan2018.hierarchical-task.net\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Grounded (Lifted) Linearizer at the IPC 2023: Solving Partial Order HTN Problems by Linearizing Them\",\"author\":[{\"firstnames\":[\"Ying\",\"Xian\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"Conny\"],\"propositions\":[],\"lastnames\":[\"Olz\"],\"suffixes\":[]},{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 11th International Planning Competition: Planner Abstracts – Hierarchical Task Network (HTN) Planning Track, IPC 2023\",\"year\":\"2023\",\"abstrac\":\"In this paper, we would like to present Grounded (Lifted) Linearizer, a hierarchical task network (HTN) planning system which won the Partial Order (PO) Agile and Satisficing tracks of the International Planning Competition 2023 on Hierarchical Task Network (HTN) Planning. This system consists of two parts. The first part is a preprocessor developed in house which transforms a POHTN problem into a total order (TO) one and which is the main contribution of this paper. The second part is an existing HTN planner. The outstanding performance of our assembled planning system thus serves as an evidence for how our preprocessor can enhance the efficiency of other existing planners.\",\"url_paper\":\"https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf\",\"bibtex\":\"@inproceedings{Wu2023IPCLinearizer,\\n  title     = {Grounded (Lifted) Linearizer at the IPC 2023: Solving Partial Order HTN Problems by Linearizing Them},\\n  author    = {Ying Xian Wu and Conny Olz and Songtuan Lin and Pascal Bercher},\\n  booktitle = {Proceedings of the 11th {I}nternational {P}lanning {C}ompetition: Planner Abstracts -- Hierarchical Task Network (HTN) Planning Track, {IPC} 2023},\\n  year      = {2023},\\n  abstrac   = {In this paper, we would like to present Grounded (Lifted) Linearizer, a hierarchical task network (HTN) planning system which won the Partial Order (PO) Agile and Satisficing tracks of the International Planning Competition 2023 on Hierarchical Task Network (HTN) Planning. This system consists of two parts. The first part is a preprocessor developed in house which transforms a POHTN problem into a total order (TO) one and which is the main contribution of this paper. The second part is an existing HTN planner. The outstanding performance of our assembled planning system thus serves as an evidence for how our preprocessor can enhance the efficiency of other existing planners.},\\n  url_Paper = {https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf}\\n} \\n\\n\",\"author_short\":[\"Wu, Y. X.\",\"Olz, C.\",\"Lin, S.\",\"Bercher, P.\"],\"key\":\"Wu2023IPCLinearizer\",\"id\":\"Wu2023IPCLinearizer\",\"bibbaseid\":\"wu-olz-lin-bercher-groundedliftedlinearizerattheipc2023solvingpartialorderhtnproblemsbylinearizingthem-2023\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":5,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"The PANDADealer System for Totally Ordered HTN Planning in the 2023 IPC\",\"author\":[{\"firstnames\":[\"Conny\"],\"propositions\":[],\"lastnames\":[\"Olz\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of the 11th International Planning Competition: Planner Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC)\",\"year\":\"2023\",\"abstract\":\"The PANDADealer system is an HTN planning system for solving totally ordered HTN planning problems. It builds on the heuristic progression search of the PANDApro system, and extends it with a look-ahead technique to detect dead-ends and inevitable refinement choices. The technique is based on inferred preconditions and effects of tasks, or more precisely, their decomposition methods.\",\"url_paper\":\"https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf\",\"bibtex\":\"@inproceedings{Olz2023IPCPANDADealer,\\n  title     = {The PANDADealer System for Totally Ordered HTN Planning in the 2023 IPC},\\n  author    = {Conny Olz and Daniel H{\\\\\\\"o}ller and Pascal Bercher},\\n  booktitle = {Proceedings of the 11th {I}nternational {P}lanning {C}ompetition: Planner Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC)},\\n  year      = {2023},\\n  abstract  = {The PANDADealer system is an HTN planning system for solving totally ordered HTN planning problems. It builds on the heuristic progression search of the PANDApro system, and extends it with a look-ahead technique to detect dead-ends and inevitable refinement choices. The technique is based on inferred preconditions and effects of tasks, or more precisely, their decomposition methods.},\\n  url_Paper = {https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf}\\n}\\n\\n\",\"author_short\":[\"Olz, C.\",\"Höller, D.\",\"Bercher, P.\"],\"key\":\"Olz2023IPCPANDADealer\",\"id\":\"Olz2023IPCPANDADealer\",\"bibbaseid\":\"olz-hller-bercher-thepandadealersystemfortotallyorderedhtnplanninginthe2023ipc-2023\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"title\":\"Hierarchical Planning and Reasoning about Partially Ordered Plans – From Theory to Practice (extended abstract)\",\"journal\":\"Interactive AI Magazine\",\"year\":\"2023\",\"abstract\":\"This is an invited paper and part of the New Faculty Highlights Invited Speaker Program of AAAI'21. It surveys some of my work done until today in hierarchical task network (HTN) planning as well as partial order causal link (POCL) planning. Lines or research outlined include complexity investigations, heuristic search, as well as practical application for planning-based assistants.\",\"url_paper-aimag\":\"https://interactiveaimag.org/columns/articles/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice-new-faculty-highlights-extended-abstract/\",\"url_paper\":\"https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf\",\"url_video_of_presentation\":\"https://slideslive.com/38952027/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice\",\"bibtex\":\"@Article{Bercher2023SurveyOfOwnWorkAbstract,\\n  author    = {Pascal Bercher},\\n  title     = {Hierarchical Planning and Reasoning about Partially Ordered Plans -- From Theory to Practice (extended abstract)},\\n  journal   = {Interactive AI Magazine},\\n  year      = {2023},\\n  abstract  = {This is an invited paper and part of the New Faculty Highlights Invited Speaker Program of AAAI'21. It surveys some of my work done until today in hierarchical task network (HTN) planning as well as partial order causal link (POCL) planning. Lines or research outlined include complexity investigations, heuristic search, as well as practical application for planning-based assistants.},\\n  url_Paper-AIMag = {https://interactiveaimag.org/columns/articles/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice-new-faculty-highlights-extended-abstract/},\\n  url_Paper = {https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf},\\n  url_video_of_presentation = {https://slideslive.com/38952027/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\"],\"key\":\"Bercher2023SurveyOfOwnWorkAbstract\",\"id\":\"Bercher2023SurveyOfOwnWorkAbstract\",\"bibbaseid\":\"bercher-hierarchicalplanningandreasoningaboutpartiallyorderedplansfromtheorytopracticeextendedabstract-2023\",\"role\":\"author\",\"urls\":{\" paper-aimag\":\"https://interactiveaimag.org/columns/articles/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice-new-faculty-highlights-extended-abstract/\",\" paper\":\"https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf\",\" video of presentation\":\"https://slideslive.com/38952027/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"The Hierarchical Woodworking Domain\",\"author\":[{\"firstnames\":[\"Bernd\"],\"propositions\":[],\"lastnames\":[\"Schattenberg\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020)\",\"year\":\"2021\",\"pages\":\"43–44\",\"abstract\":\"The Woodworking domain is one of the classical benchmark domains in the canon of the International Planning Competition. This paper describes our hierarchical take on it.\",\"url_paper\":\"https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf\",\"bibtex\":\"@inproceedings{Schattenberg2021Woodworking,\\n  title                    = {The Hierarchical Woodworking Domain},\\n  author                   = {Bernd Schattenberg and Pascal Bercher},\\n  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},\\n  year                     = {2021},\\n  pages                    = {43--44},\\n  abstract                 = {The Woodworking domain is one of the classical benchmark domains in the canon of the International Planning Competition. This paper describes our hierarchical take on it.},\\n  url_Paper                = {https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf}\\n}\\n\\n\",\"author_short\":[\"Schattenberg, B.\",\"Bercher, P.\"],\"key\":\"Schattenberg2021Woodworking\",\"id\":\"Schattenberg2021Woodworking\",\"bibbaseid\":\"schattenberg-bercher-thehierarchicalwoodworkingdomain-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":6,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"The Smartphone Domain\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]},{\"firstnames\":[\"Bernd\"],\"propositions\":[],\"lastnames\":[\"Schattenberg\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020)\",\"year\":\"2021\",\"pages\":\"47–47\",\"abstract\":\"This extended abstract is about the Smartphone domain, submitted as a benchmark domain to the IPC 2020.\",\"url_paper\":\"https://bercher.net/publications/2021/Bercher2021Smartphone.pdf\",\"bibtex\":\"@inproceedings{Bercher2021Smartphone,\\n  title                    = {The Smartphone Domain},\\n  author                   = {Pascal Bercher and Susanne Biundo and Bernd Schattenberg},\\n  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},\\n  year                     = {2021},\\n  pages                    = {47--47},\\n  abstract                 = {This extended abstract is about the Smartphone domain, submitted as a benchmark domain to the IPC 2020.},\\n  url_Paper                = {https://bercher.net/publications/2021/Bercher2021Smartphone.pdf}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\",\"Biundo, S.\",\"Schattenberg, B.\"],\"key\":\"Bercher2021Smartphone\",\"id\":\"Bercher2021Smartphone\",\"bibbaseid\":\"bercher-biundo-schattenberg-thesmartphonedomain-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Bercher2021Smartphone.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":4,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"From PCP to HTN Planning Through CFGs\",\"author\":[{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Songtuan\"],\"propositions\":[],\"lastnames\":[\"Lin\"],\"suffixes\":[]},{\"firstnames\":[\"Kutluhan\"],\"propositions\":[],\"lastnames\":[\"Erol\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020)\",\"year\":\"2021\",\"pages\":\"24–25\",\"abstract\":\"The International Planning Competition in 2020 was the first one for a long time to host tracks on HTN planning. The used benchmark set included a domain describing the undecidable Post Correspondence Problem (PCP). In this paper we describe the two-step process applied to generate HTN problems based on PCP instances. It translates the PCP into a grammar intersection problem of two context-free languages, which is then encoded into an HTN problem.\",\"url_paper\":\"https://bercher.net/publications/2021/Hoeller2021PCP.pdf\",\"bibtex\":\"@inproceedings{Hoeller2021PCP,\\n  title                    = {From PCP to HTN Planning Through CFGs},\\n  author                   = {Daniel H\\\\\\\"oller and Songtuan Lin and Kutluhan Erol and Pascal Bercher},\\n  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},\\n  year                     = {2021},\\n  pages                    = {24--25},\\n  abstract                 = {The International Planning Competition in 2020 was the first one for a long time to host tracks on HTN planning. The used benchmark set included a domain describing the undecidable Post Correspondence Problem (PCP). In this paper we describe the two-step process applied to generate HTN problems based on PCP instances. It translates the PCP into a grammar intersection problem of two context-free languages, which is then encoded into an HTN problem.},\\n  url_Paper                = {https://bercher.net/publications/2021/Hoeller2021PCP.pdf}\\n}\\n\\n\",\"author_short\":[\"Höller, D.\",\"Lin, S.\",\"Erol, K.\",\"Bercher, P.\"],\"key\":\"Hoeller2021PCP\",\"id\":\"Hoeller2021PCP\",\"bibbaseid\":\"hller-lin-erol-bercher-frompcptohtnplanningthroughcfgs-2021\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2021/Hoeller2021PCP.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"techreport\",\"type\":\"techreport\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Felix\"],\"propositions\":[],\"lastnames\":[\"Richter\"],\"suffixes\":[]},{\"firstnames\":[\"Frank\"],\"propositions\":[],\"lastnames\":[\"Honold\"],\"suffixes\":[]},{\"firstnames\":[\"Florian\"],\"propositions\":[],\"lastnames\":[\"Nielsen\"],\"suffixes\":[]},{\"firstnames\":[\"Felix\"],\"propositions\":[],\"lastnames\":[\"Schüssel\"],\"suffixes\":[]},{\"firstnames\":[\"Thomas\"],\"propositions\":[],\"lastnames\":[\"Geier\"],\"suffixes\":[]},{\"firstnames\":[\"Thilo\"],\"propositions\":[],\"lastnames\":[\"Hörnle\"],\"suffixes\":[]},{\"firstnames\":[\"Stephan\"],\"propositions\":[],\"lastnames\":[\"Reuter\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Gregor\"],\"propositions\":[],\"lastnames\":[\"Behnke\"],\"suffixes\":[]},{\"firstnames\":[\"Klaus\"],\"propositions\":[],\"lastnames\":[\"Dietmayer\"],\"suffixes\":[]},{\"firstnames\":[\"Wolfgang\"],\"propositions\":[],\"lastnames\":[\"Minker\"],\"suffixes\":[]},{\"firstnames\":[\"Michael\"],\"propositions\":[],\"lastnames\":[\"Weber\"],\"suffixes\":[]},{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]}],\"title\":\"A Companion-System Architecture for Realizing Individualized and Situation-Adaptive User Assistance\",\"institution\":\"Ulm University\",\"year\":\"2018\",\"doi\":\"10.18725/OPARU-11023\",\"pages\":\"1–48\",\"abstract\":\"We show how techniques from various research areas – most notably hierarchical planning, dialog management, and interaction management – can be employed to realize individualized and situation-adaptive user assistance. We introduce a modular system architecture that is composed of domain-independent components implementing techniques from the respective areas. Systems based on this architecture – so-called \\\\emphCompanion-Systems – can provide intelligent assistance in a broad variety of tasks. They provide a user- and situation-adapted sequence of instructions that show how achieve the respective task. Additional explanations are, like the instructions themselves, automatically derived based on a declarative model of the current task. These systems can react to unforeseen execution failures repairing their underlying plans if required. We introduce a prototype system that assists with setting up a home theater and use it as a running example as well as for an empirical evaluation with test subjects that shows the usefulness of our approach. We summarize the work of more than half a decade of research and development done by various research groups from different disciplines. Here, for the first time, we explain the full integration of all components thereby showing ``the complete picture'' of our approach to provide individualized and situation-adaptive user assistance.\",\"url_paper\":\"https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf\",\"bibtex\":\"@TechReport{Bercher2018AssemblyAssistant,\\n  author                   = {Pascal Bercher and Felix Richter and Frank Honold and Florian Nielsen and Felix Schüssel and Thomas Geier and Thilo Hörnle and Stephan Reuter and Daniel H{\\\\\\\"o}ller and Gregor Behnke and Klaus Dietmayer and Wolfgang Minker and Michael Weber and Susanne Biundo},\\n  title                    = {A Companion-System Architecture for Realizing Individualized and Situation-Adaptive User Assistance},\\n  institution              = {Ulm University},\\n  year                     = {2018},\\n  doi                      = {10.18725/OPARU-11023},\\n  pages                    = {1--48},\\n  abstract                 = {We show how techniques from various research areas -- most notably hierarchical planning, dialog management, and interaction management -- can be employed to realize individualized and situation-adaptive user assistance. We introduce a modular system architecture that is composed of domain-independent components implementing techniques from the respective areas. Systems based on this architecture -- so-called \\\\emph{Companion}-Systems -- can provide intelligent assistance in a broad variety of tasks. They provide a user- and situation-adapted sequence of instructions that show how achieve the respective task. Additional explanations are, like the instructions themselves, automatically derived based on a declarative model of the current task. These systems can react to unforeseen execution failures repairing their underlying plans if required. We introduce a prototype system that assists with setting up a home theater and use it as a running example as well as for an empirical evaluation with test subjects that shows the usefulness of our approach. We summarize the work of more than half a decade of research and development done by various research groups from different disciplines. Here, for the first time, we explain the full integration of all components thereby showing ``the complete picture'' of our approach to provide individualized and situation-adaptive user assistance.},\\n  url_Paper                = {https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\",\"Richter, F.\",\"Honold, F.\",\"Nielsen, F.\",\"Schüssel, F.\",\"Geier, T.\",\"Hörnle, T.\",\"Reuter, S.\",\"Höller, D.\",\"Behnke, G.\",\"Dietmayer, K.\",\"Minker, W.\",\"Weber, M.\",\"Biundo, S.\"],\"key\":\"Bercher2018AssemblyAssistant\",\"id\":\"Bercher2018AssemblyAssistant\",\"bibbaseid\":\"bercher-richter-honold-nielsen-schssel-geier-hrnle-reuter-etal-acompanionsystemarchitectureforrealizingindividualizedandsituationadaptiveuserassistance-2018\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Interview with David E. Smith\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]}],\"journal\":\"Künstliche Intelligenz\",\"year\":\"2016\",\"note\":\"Special Issue on Companion Technologies\",\"number\":\"1\",\"pages\":\"101–105\",\"volume\":\"30\",\"doi\":\"10.1007/s13218-015-0403-y\",\"abstract\":\"David E. Smith is a senior Researcher in the Intelligent Systems Division at NASA Ames Research Center. He received his Ph.D. in 1985 from Stanford University, and spent time as a Research Associate at Stanford, a Scientist at the Rockwell Palo Alto Science Center, and a Visiting Scholar at the University of Washington before joining NASA in 1997. Beginning in 1999, he served as the lead of the 18 member planning and scheduling group at NASA Ames for 6 years before abdicating to devote more time to research. Much of his research has focused on pushing the boundaries of AI planning technology to handle richer models of time, concurrency, exogenous events, uncertainty, and oversubscription. Smith served as an Associate Editor for the Journal of Artificial Intelligence Research (JAIR) from 2001–2004, and as Guest Editor for the JAIR Special Issue and Special Track on the 3rd and 4th International Planning Competitions. He served on the JAIR Advisory Board 2004–2007. Smith was recognized as a AAAI Fellow in 2005, and served on the AAAI Executive Council 2007–2010.\",\"url_paper\":\"https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf\",\"bibtex\":\"@Article{Bercher2016SmithInterview,\\n  Title                    = {Interview with {David E. Smith}},\\n  Author                   = {Pascal Bercher and Daniel H\\\\\\\"oller},\\n  Journal                  = {K{\\\\\\\"u}nstliche Intelligenz},\\n  Year                     = {2016},\\n  Note                     = {Special Issue on Companion Technologies},\\n  Number                   = {1},\\n  Pages                    = {101--105},\\n  Volume                   = {30},\\n  Doi                      = {10.1007/s13218-015-0403-y},\\n  abstract                 = {David E. Smith is a senior Researcher in the Intelligent Systems Division at NASA Ames Research Center. He received his Ph.D. in 1985 from Stanford University, and spent time as a Research Associate at Stanford, a Scientist at the Rockwell Palo Alto Science Center, and a Visiting Scholar at the University of Washington before joining NASA in 1997. Beginning in 1999, he served as the lead of the 18 member planning and scheduling group at NASA Ames for 6 years before abdicating to devote more time to research. Much of his research has focused on pushing the boundaries of AI planning technology to handle richer models of time, concurrency, exogenous events, uncertainty, and oversubscription. Smith served as an Associate Editor for the Journal of Artificial Intelligence Research (JAIR) from 2001–2004, and as Guest Editor for the JAIR Special Issue and Special Track on the 3rd and 4th International Planning Competitions. He served on the JAIR Advisory Board 2004–2007. Smith was recognized as a AAAI Fellow in 2005, and served on the AAAI Executive Council 2007–2010.},\\n  url_Paper                = {https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\",\"Höller, D.\"],\"key\":\"Bercher2016SmithInterview\",\"id\":\"Bercher2016SmithInterview\",\"bibbaseid\":\"bercher-hller-interviewwithdavidesmith-2016\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Special Issue on Companion Technologies\",\"author\":[{\"firstnames\":[\"Susanne\"],\"propositions\":[],\"lastnames\":[\"Biundo\"],\"suffixes\":[]},{\"firstnames\":[\"Daniel\"],\"propositions\":[],\"lastnames\":[\"Höller\"],\"suffixes\":[]},{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"journal\":\"Künstliche Intelligenz\",\"year\":\"2016\",\"note\":\"This is the editorial of our Special Issue on Companion Technologies, in which we were the guest editors\",\"number\":\"1\",\"pages\":\"5–9\",\"volume\":\"30\",\"doi\":\"10.1007/s13218-015-0421-9\",\"abstract\":\"Dear reader, at present, we observe a rapid growth in the development of increasingly complex ``intelligent systems'' that serve users throughout all areas of their daily lives. They range from classical technical systems such as household appliances, cars, or consumer electronics through mobile apps and services to advanced service robots in various fields of application. While many of the rather conventional systems already provide multiple modalities to interact with, the most advanced are even equipped with cognitive abilities such as perception, cognition, and reasoning. However, the use of such complex technical systems and in particular the actual exploitation of their rich functionality remain challenging and quite often lead to users' cognitive overload and frustration. Companion Technologies bridge the gap between the extensive functionality of technical systems and human users' individual requirements and needs. They enable the construction of really smart – adaptive, flexible, and cooperative – technical systems by applying and fusing techniques from different areas of research. In our special issue we present interesting pieces of work – quite a number of new technical contributions, ongoing and completed research projects, several dissertation abstracts, as well as an interview – that are related to, or even fundamental for, Companion-Technology. In the community part of this issue, there is also a conference report on the first International Symposium on Companion-Technology\",\"url_paper\":\"https://bercher.net/publications/2016/Biundo2016Editorial.pdf\",\"bibtex\":\"@Article{Biundo2016Editorial,\\n  Title                    = {Special Issue on Companion Technologies},\\n  Author                   = {Susanne Biundo and Daniel H\\\\\\\"oller and Pascal Bercher},\\n  Journal                  = {K{\\\\\\\"u}nstliche Intelligenz},\\n  Year                     = {2016},\\n  Note                     = {This is the editorial of our Special Issue on Companion Technologies, in which we were the guest editors},\\n  Number                   = {1},\\n  Pages                    = {5--9},\\n  Volume                   = {30},\\n  Doi                      = {10.1007/s13218-015-0421-9},\\n  abstract                 = {Dear reader, at present, we observe a rapid growth in the development of increasingly complex ``intelligent systems'' that serve users throughout all areas of their daily lives. They range from classical technical systems such as household appliances, cars, or consumer electronics through mobile apps and services to advanced service robots in various fields of application. While many of the rather conventional systems already provide multiple modalities to interact with, the most advanced are even equipped with cognitive abilities such as perception, cognition, and reasoning. However, the use of such complex technical systems and in particular the actual exploitation of their rich functionality remain challenging and quite often lead to users' cognitive overload and frustration. Companion Technologies bridge the gap between the extensive functionality of technical systems and human users' individual requirements and needs. They enable the construction of really smart -- adaptive, flexible, and cooperative -- technical systems by applying and fusing techniques from different areas of research. In our special issue we present interesting pieces of work -- quite a number of new technical contributions, ongoing and completed research projects, several dissertation abstracts, as well as an interview -- that are related to, or even fundamental for, Companion-Technology. In the community part of this issue, there is also a conference report on the first International Symposium on Companion-Technology},\\n  url_Paper                = {https://bercher.net/publications/2016/Biundo2016Editorial.pdf}\\n}\\n\\n\",\"author_short\":[\"Biundo, S.\",\"Höller, D.\",\"Bercher, P.\"],\"key\":\"Biundo2016Editorial\",\"id\":\"Biundo2016Editorial\",\"bibbaseid\":\"biundo-hller-bercher-specialissueoncompaniontechnologies-2016\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2016/Biundo2016Editorial.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Hybrides Planen — Von der Theorie zur Praxis\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Ausgezeichnete Informatikdissertationen 2017\",\"year\":\"2018\",\"pages\":\"21–30\",\"publisher\":\"Gesellschaft für Informatik\",\"abstract\":\"Die Dissertation legt Grundlagen, die es erlauben, Planungstechnologie der Künstlichen Intelligenz als Basis für flexible Assistenzsysteme einzusetzen. Die Aufgabe der automatischen Handlungsplanung ist es hierbei, selbständig einen Plan zu entwickeln, der dem Nutzer Schritt für Schritt präsentiert wird und ihn oder sie bei der Bearbeitung einer entsprechenden Aufgabe anleitet. Durch die starke Miteinbeziehung eines menschlichen Nutzers ergeben sich viele neue Herausforde- rungen: Pläne müssen schnell gefunden werden; und sie sollen nicht nur korrekt sein, sondern auch kostengünstig und dem Nutzer plausibel erscheinen; und sie sollen erklärbar sein, um Transparenz zu schaffen. Aus diesem Grund wurde das hybride Planen gewählt, ein hierarchischer, nicht-linearer Planungsansatz. Es wurden neue Komplexitätsergebnisse für das Planexistenz- und das Planverifikationsproblem erzielt; die ersten zulässigen Heuristiken erforscht, welche das Finden optimaler Pläne garantieren; und es wurde ein prototypisches Assistenzsystem realisiert, das seinen Nutzer bei dem Aufbau einer komplexen Heimkinoanlage unterstützt.\",\"note\":\"This dissertation abstract (in German) was written as part of being nominated for the GI (Gesellschaft für Informatik, eng.: Society for Computer Science) Best Dissertation Award 2017.\",\"url_paper\":\"https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf\",\"url_slides\":\"https://bercher.net/publications/2018/Bercher2018DissertationAbstractSlides.pdf\",\"url_proceedings\":\"https://dl.gi.de/bitstream/handle/20.500.12116/19479/lni-d-18-komplet.pdf\",\"url_papers-of-nominated-theses\":\"https://dl.gi.de/handle/20.500.12116/19456\",\"bibtex\":\"@InProceedings{Bercher2018DissertationAbstract,\\n  Title                    = {Hybrides Planen --- Von der Theorie zur Praxis},\\n  Author                   = {Pascal Bercher},\\n  Booktitle                = {Ausgezeichnete Informatikdissertationen 2017},\\n  Year                     = {2018},\\n  pages                    = {21--30},\\n  Publisher                = {Gesellschaft für Informatik},\\n  abstract                 = {Die Dissertation legt Grundlagen, die es erlauben, Planungstechnologie der Künstlichen Intelligenz als Basis für flexible Assistenzsysteme einzusetzen. Die Aufgabe der automatischen Handlungsplanung ist es hierbei, selbständig einen Plan zu entwickeln, der dem Nutzer Schritt für Schritt präsentiert wird und ihn oder sie bei der Bearbeitung einer entsprechenden Aufgabe anleitet. Durch die starke Miteinbeziehung eines menschlichen Nutzers ergeben sich viele neue Herausforde- rungen: Pläne müssen schnell gefunden werden; und sie sollen nicht nur korrekt sein, sondern auch kostengünstig und dem Nutzer plausibel erscheinen; und sie sollen erklärbar sein, um Transparenz zu schaffen. Aus diesem Grund wurde das hybride Planen gewählt, ein hierarchischer, nicht-linearer Planungsansatz. Es wurden neue Komplexitätsergebnisse für das Planexistenz- und das Planverifikationsproblem erzielt; die ersten zulässigen Heuristiken erforscht, welche das Finden optimaler Pläne garantieren; und es wurde ein prototypisches Assistenzsystem realisiert, das seinen Nutzer bei dem Aufbau einer komplexen Heimkinoanlage unterstützt.},\\n  note                     = {This dissertation abstract (in German) was written as part of being nominated for the GI (Gesellschaft für Informatik, eng.: Society for Computer Science) Best Dissertation Award 2017.},\\n  url_Paper                = {https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf},\\n  url_Slides               = {https://bercher.net/publications/2018/Bercher2018DissertationAbstractSlides.pdf},\\n  url_Proceedings          = {https://dl.gi.de/bitstream/handle/20.500.12116/19479/lni-d-18-komplet.pdf},\\n  url_Papers-of-Nominated-Theses = {https://dl.gi.de/handle/20.500.12116/19456}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\"],\"key\":\"Bercher2018DissertationAbstract\",\"id\":\"Bercher2018DissertationAbstract\",\"bibbaseid\":\"bercher-hybridesplanenvondertheoriezurpraxis-2018\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf\",\" slides\":\"https://bercher.net/publications/2018/Bercher2018DissertationAbstractSlides.pdf\",\" proceedings\":\"https://dl.gi.de/bitstream/handle/20.500.12116/19479/lni-d-18-komplet.pdf\",\" papers-of-nominated-theses\":\"https://dl.gi.de/handle/20.500.12116/19456\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":2,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Hybrid Planning – Theoretical Foundations and Practical Applications\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"booktitle\":\"Doctoral Consortium at ICAPS 2015 (ICAPS DC 2015)\",\"year\":\"2015\",\"abstract\":\"The thesis presents a novel set-theoretic formalization of (propositional) hybrid planning – a planning framework that fuses Hierarchical Task Network (HTN) planning with Partial-Order Causal-Link (POCL) planning. Several sub classes thereof are identified that capture well-known problems such as HTN planning and POCL planning. For these problem classes, the complexity of the plan-existence problem is investigated, i.e., the problem of deciding whether there exists a solution for a given planning problem. For solving the problems of the respective problem classes, a hybrid planning algorithm is presented. Its search is guided by informed heuristics. Several such heuristics are introduced, both for POCL planning problems (i.e., problems without task hierarchy) and for hybrid planning problems (i.e., heuristics that are ''hierarchy-aware'').\",\"url_paper\":\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf\",\"url_slides\":\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCSlides.pdf\",\"url_poster\":\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCPoster.pdf\",\"bibtex\":\"@InProceedings{Bercher2015DissertationAbstractDC,\\n  Title                    = {Hybrid Planning -- Theoretical Foundations and Practical Applications},\\n  Author                   = {Pascal Bercher},\\n  Booktitle                = {Doctoral Consortium at ICAPS 2015 (ICAPS DC 2015)},\\n  Year                     = {2015},\\n  abstract                 = {The thesis presents a novel set-theoretic formalization of (propositional) hybrid planning -- a planning framework that fuses Hierarchical Task Network (HTN) planning with Partial-Order Causal-Link (POCL) planning. Several sub classes thereof are identified that capture well-known problems such as HTN planning and POCL planning. For these problem classes, the complexity of the plan-existence problem is investigated, i.e., the problem of deciding whether there exists a solution for a given planning problem. For solving the problems of the respective problem classes, a hybrid planning algorithm is presented. Its search is guided by informed heuristics. Several such heuristics are introduced, both for POCL planning problems (i.e., problems without task hierarchy) and for hybrid planning problems (i.e., heuristics that are ''hierarchy-aware'').},\\n  url_Paper                = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf},\\n  url_Slides               = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCSlides.pdf},\\n  url_Poster               = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCPoster.pdf}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\"],\"key\":\"Bercher2015DissertationAbstractDC\",\"id\":\"Bercher2015DissertationAbstractDC\",\"bibbaseid\":\"bercher-hybridplanningtheoreticalfoundationsandpracticalapplications-2015\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf\",\" slides\":\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCSlides.pdf\",\" poster\":\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCPoster.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"title\":\"Hybrid Planning — From Theory to Practice\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]}],\"school\":\"Ulm University\",\"year\":\"2018\",\"doi\":\"10.18725/OPARU-5242\",\"abstract\":\"This work lays fundamental groundwork for the development of so-called Companion Systems - cognitive technical systems that are capable to reason about themselves, their users and environment, and to plan a course of action to achieve their users' goals. They are intelligent devices that assist their users in operating them: instead of the user having to learn how to operate the respective system, the system is intelligent and flexible enough to provide its functionality in a truly user-friendly way. To fully meet a user's demands, Companion Systems rely on a multi-facet of capabilities that stem from different disciplines, such as Artificial Intelligence (AI) planning, knowledge representation and reasoning, dialog management, and user interaction management, to name just a few. This thesis focuses on the relevant aspects of AI planning technology that are of importance for such systems. AI planning is the central technology for many Companion Systems as it allows to compute a course of action that, if followed by its user, achieves his or her goals and therefore serves as a basis of providing advanced user assistance. This thesis is concerned with hybrid planning - a hierarchical planning formalism that is especially suited for the basis of providing assistance to human users. Based on this formalism we will investigate the full endeavor of developing Companion Systems - from theory to practice. The thesis presents a novel formalization for hierarchical planning problems, which has become a standard in the field. We present a categorization of different problem classes into which hybrid planning as well as other well-known problem classes fall. This formalization allowed to prove a series of novel complexity results that are of interest both for theoretical and practical considerations. For many of the identified classes we introduce novel heuristics that are used to speed up the solution generation process. Some of them are the very first for the respective problem class, and some are the first admissible ones, thereby allowing to find optimal solutions – which is especially important when plans are generated for human users. We apply hybrid planning in a prototypical Companion System. It assists a user in the task of setting up a complex home entertainment system. Based on a declarative (planning) model of the available hardware and its functionality, the assistant computes a sequence of actions that the user simply needs to follow to complete the setup task. Several so-called user-centered planning capabilities are applied in this system, such as a technique for generating user-friendly linearizations of non-linear plans or the capability to answer questions about the necessity of actions - an essential property to ensure transparency of the system's behavior. In conclusion: Most modern technical devices are still lacking true intelligence - since no research such as AI planning is sufficiently applied, so there is still huge potential in making such devices really smart by implementing them as cognitive systems that effectively assist their human users. Applying the research presented in this thesis is one step towards achieving this goal.\",\"note\":\"This work won the ICAPS Best Dissertation Award 2019.\",\"url_dissertation\":\"https://bercher.net/publications/2017/Bercher2017Dissertation.pdf\",\"url_slides-from-icaps-award\":\"https://bercher.net/publications/2017/Bercher2019ICAPSDissertationTalk.pdf\",\"bibtex\":\"@PhdThesis{Bercher2017PhDThesis,\\n  Title                    = {Hybrid Planning --- From Theory to Practice},\\n  Author                   = {Pascal Bercher},\\n  School                   = {Ulm University},\\n  Year                     = {2018},\\n  doi                      = {10.18725/OPARU-5242},\\n  abstract                 = {This work lays fundamental groundwork for the development of so-called Companion Systems - cognitive technical systems that are capable to reason about themselves, their users and environment, and to plan a course of action to achieve their users' goals. They are intelligent devices that assist their users in operating them: instead of the user having to learn how to operate the respective system, the system is intelligent and flexible enough to provide its functionality in a truly user-friendly way. \\n\\nTo fully meet a user's demands, Companion Systems rely on a multi-facet of capabilities that stem from different disciplines, such as Artificial Intelligence (AI) planning, knowledge representation and reasoning, dialog management, and user interaction management, to name just a few. This thesis focuses on the relevant aspects of AI planning technology that are of importance for such systems. AI planning is the central technology for many Companion Systems as it allows to compute a course of action that, if followed by its user, achieves his or her goals and therefore serves as a basis of providing advanced user assistance. This thesis is concerned with hybrid planning - a hierarchical planning formalism that is especially suited for the basis of providing assistance to human users. Based on this formalism we will investigate the full endeavor of developing Companion Systems - from theory to practice. \\n\\nThe thesis presents a novel formalization for hierarchical planning problems, which has become a standard in the field. We present a categorization of different problem classes into which hybrid planning as well as other well-known problem classes fall. This formalization allowed to prove a series of novel complexity results that are of interest both for theoretical and practical considerations. For many of the identified classes we introduce novel heuristics that are used to speed up the solution generation process. Some of them are the very first for the respective problem class, and some are the first admissible ones, thereby allowing to find optimal solutions -- which is especially important when plans are generated for human users. We apply hybrid planning in a prototypical Companion System. It assists a user in the task of setting up a complex home entertainment system. Based on a declarative (planning) model of the available hardware and its functionality, the assistant computes a sequence of actions that the user simply needs to follow to complete the setup task. Several so-called user-centered planning capabilities are applied in this system, such as a technique for generating user-friendly linearizations of non-linear plans or the capability to answer questions about the necessity of actions - an essential property to ensure transparency of the system's behavior. In conclusion: Most modern technical devices are still lacking true intelligence - since no research such as AI planning is sufficiently applied, so there is still huge potential in making such devices really smart by implementing them as cognitive systems that effectively assist their human users. Applying the research presented in this thesis is one step towards achieving this goal.},\\n  note                        = {This work won the ICAPS Best Dissertation Award 2019.},\\n  url_Dissertation            = {https://bercher.net/publications/2017/Bercher2017Dissertation.pdf},\\n  url_Slides-from-ICAPS-Award = {https://bercher.net/publications/2017/Bercher2019ICAPSDissertationTalk.pdf}\\n}\\n\\n\",\"author_short\":[\"Bercher, P.\"],\"key\":\"Bercher2017PhDThesis\",\"id\":\"Bercher2017PhDThesis\",\"bibbaseid\":\"bercher-hybridplanningfromtheorytopractice-2018\",\"role\":\"author\",\"urls\":{\" dissertation\":\"https://bercher.net/publications/2017/Bercher2017Dissertation.pdf\",\" slides-from-icaps-award\":\"https://bercher.net/publications/2017/Bercher2019ICAPSDissertationTalk.pdf\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":11,\"html\":\"\"},{\"bibtype\":\"techreport\",\"type\":\"techreport\",\"author\":[{\"firstnames\":[\"Pascal\"],\"propositions\":[],\"lastnames\":[\"Bercher\"],\"suffixes\":[]},{\"firstnames\":[\"Robert\"],\"propositions\":[],\"lastnames\":[\"Mattmüller\"],\"suffixes\":[]}],\"title\":\"A Planning Graph Heuristic for Forward-Chaining Adversarial Planning\",\"institution\":\"University of Freiburg, Germany\",\"year\":\"2008\",\"number\":\"238\",\"month\":\"7\",\"abstract\":\"In contrast to classical planning, in adversarial planning, the planning agent has to face an adversary trying to prevent him from reaching his goals. In this report, we investigate a forward-chaining approach to adversarial planning based on the AO* algorithm. The exploration of the underlying AND/OR graph is guided by a heuristic evaluation function, inspired by the relaxed planning graph heuristic used in the FF planner. Unlike FF, our heuristic uses an adversarial planning graph with distinct proposition and action layers for the protagonist and antagonist. First results suggest that in certain planning domains, our approach yields results competitive with the state of the art.\",\"url_paper\":\"https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf\",\"bibtex\":\"@techreport{Bercher2008FONDPGHeuristicTR,\\n  author                      = {Pascal Bercher and Robert Mattm{\\\\\\\"u}ller},\\n  title                       = {A Planning Graph Heuristic for Forward-Chaining Adversarial Planning},\\n  institution                 = {University of Freiburg, Germany},\\n  year                        = {2008},\\n  number                      = {238},\\n  month                       = {7},\\n  abstract                    = {In contrast to classical planning, in adversarial planning, the planning agent has to face an adversary trying to prevent him from reaching his goals. In this report, we investigate a forward-chaining approach to adversarial planning based on the AO* algorithm. The exploration of the underlying AND/OR graph is guided by a heuristic evaluation function, inspired by the relaxed planning graph heuristic used in the FF planner. Unlike FF, our heuristic uses an adversarial planning graph with distinct proposition and action layers for the protagonist and antagonist. First results suggest that in certain planning domains, our approach yields results competitive with the state of the art.},\\n  url_Paper                  = {https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf}\\n}\\n\",\"author_short\":[\"Bercher, P.\",\"Mattmüller, R.\"],\"key\":\"Bercher2008FONDPGHeuristicTR\",\"id\":\"Bercher2008FONDPGHeuristicTR\",\"bibbaseid\":\"bercher-mattmller-aplanninggraphheuristicforforwardchainingadversarialplanning-2008\",\"role\":\"author\",\"urls\":{\" paper\":\"https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf\"},\"metadata\":{\"authorlinks\":{\"bercher, p\":\"https://bercher.net/my-publications/conference-papers\"}},\"downloads\":4,\"html\":\"\"}],\n      metadata: {\"authorlinks\":{}},\n      ownerID: undefined\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and restoring');\n    bb$ = $.noConflict(true);\n    $ = site$;\n  } else {\n    bb$ = $;\n  }\n  </script>\n\n  <script src=\"//bibbase.org/js/bibbase.min.js\"\n          type=\"text/javascript\">\n  </script>\n\n  <script type=\"text/javascript\"\n          src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\n  </script>\n  <script type=\"text/x-mathjax-config\">\n    MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\\\(','\\\\)']]},\n                        skipTags: [\"body\"],\n                        processClass: \"bibbase_paper\"});\n  </script>\n\n  <style>\n  @media print {\n    .dontprint {\n        display: none !important;\n    }\n\n  .bibbase_group {\n    background-color: #E0E0E0;\n    font-style: italic;\n    font-size: larger;\n    text-shadow: 0px 0px 3px #FFFFFF;\n    border-radius: 4px 4px 4px 4px;\n    -moz-border-radius: 4px 4px 4px 4px;\n    -webkit-border-radius: 4px;\n    padding: 5px 40px 5px;\n    margin-top: 10px;\n    margin-bottom: 5px;\n    cursor: pointer;\n  }\n\n  .bibbase_paper {\n    margin-bottom: 5px;\n  }\n\n  }\n  </style>\n\n  \n  <div style=\"float: right; margin-right: 10px; margin-top: 10px; text-align: right; font-size: 12px\">\n    generated by\n    <a href=\"//bibbase.org\"\n       onclick=\"trackOutboundLink('bibbase', 'logo clicked', window.location.href, '//bibbase.org'); return false;\">\n      <img src=\"//bibbase.org/img/logo.svg\"\n           style=\"vertical-align: middle; margin-left: 3px; height: 16px;\"/\n           alt=\"bibbase.org\"\n           title=\"BibBase – The easiest way to maintain your publications page.\"\n        ></a>\n    \n  </div>\n  \n\n  <div id=\"bibbase_header\" class=\"dontprint\" style=\"display: none\">\n\n    <ul class=\"nav nav-pills\" style=\"margin: 0px;\">\n\n      <li class=\"dropdown\" id=\"groupby_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\">\n          Group by\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li class=\"groupby year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"various.bib\" href=\"data:text/bibtex;base64,@Misc{Olz2023ExperimentalData,
  author       = {Conny Olz and Pascal Bercher},
  title        = {Experimental Results for the SoCS 2023 Paper ``A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements''},
  year         = {2023},
  copyright    = {Creative Commons Attribution 4.0 International},
  doi          = {10.5281/zenodo.7900414},
  publisher    = {Zenodo}
}



@Misc{Sleath2023ExperimentalData,
  author       = {Kayleigh Sleath and Pascal Bercher},
  title        = {Experimental Results for the PRICAI 2023 Paper ``Detecting AI Planning Modelling Mistakes -- Potential Errors and Benchmark Domains''},
  year         = {2023},
  copyright    = {Creative Commons Attribution 4.0 International},
  doi          = {10.5281/zenodo.8249689},
  publisher    = {Zenodo}
}



@Misc{Lin2023RepairingClassicalModelsExperimentalResults,
  author       = {Songtuan Lin and Alban Grastien and Pascal Bercher},
  title        = {Experimental Results for the AAAI 2023 Paper ``Towards Automated Modeling Assistance: An Efficient Approach for Repairing Flawed Planning Domains''},
  year         = {2023},
  copyright    = {Creative Commons Attribution 4.0 International},
  doi          = {10.5281/zenodo.7690016},
  publisher    = {Zenodo}
}



@Misc{Lin2023ExperimentalResultsTOVerification,
  author       = {Songtuan Lin and Gregor Behnke and Simona Ondr\v{c}kov{\'{a}} and Roman Bart{\'{a}}k and Pascal Bercher},
  title        = {Experimental Results for the AAAI 2023 Paper ``On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm''},
  year         = {2023},
  copyright    = {Creative Commons Attribution 4.0 International},
  doi          = {10.5281/zenodo.7704558},
  publisher    = {Zenodo},
}



% PROCEEDINGS OF VARIOUS KINDS

%% ICAPS DOCTORAL CONSORTIUM



@Proceedings{ICAPS-DC-2022,
  title           = {Proceedings of the 20th ICAPS Doctoral Consortium (ICAPS DC 2022)},
  year            = {2022},
  editor          = {Pascal Bercher and Sara Bernardini},
  abstract        = {This is the proceedings of the ICAPS Doctoral Consortium 2022.},
  url_website     = {https://icaps22.icaps-conference.org/dc-2022},
  url_proceedings = {https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf}
}

%% IPC Booklet



@proceedings{IPC2020Booklet,
  title                    = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},
  year                     = {2021},
  editor                   = {Gregor Behnke and Daniel H{\"o}ller and Pascal Bercher},
  url_IPC-Booklet          = {https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf},
  abstract                 = {<p>Since its first edition in 1998, the International Planning Competition (IPC) has been an integral event of the planning community. For more than 20 years, it established unified input languages for planners, enabled an objective comparison between them based on an accessible benchmark set. The IPC drove the development of planners and fostered research. Thus, the IPC enabled planning researchers to compare their own work against the work of others -- not only within the competition, but also outside of it. Due to the IPC almost all contemporary planners understand (some form of) PDDL, which allows for using IPC benchmarks across a multitude of planners.</p>

<p>The first two IPCs had -- in addition to the regular track -- a track on hand-tailored planners in which the planners could be provided with additional information or select their algorithms based on the input domain. Among these planners, some used Hierarchical Planning -- most notably SHOP. Following the second IPC in 2000 the hand-tailored track was discontinued. Hierarchical planning was thereafter not part of the IPC any more. Research in the field however continued.</p>

<p>The International Planning Competition 2020 features for the first time a track dedicated to hierarchical planning. In contrast to the previous track on hand-tailored planners we don't want to evaluate how good planners can become given any possible additional knowledge, but ask how well planners can exploit a given hierarchical refinement structure. We therefore faced several unique challenges. We had to establish a common input language for all planners such that all of them operate on the very same model. We also had to specify a plan-output format and provide a verifier, since we had to ensure that the found plans satisfy the decompositional structure of the given task hierarchy. Further, we had to gather a comprehensive set of benchmark domains, since no such set existed before. We hope that this first competition for Hierarchical Task Network planners will foster future research into hierarchical planning and provide a common basis for many researchers -- by establishing a unified input language, a common benchmark set, and an evaluation of the state of the art in HTN planning. We hope that many future editions of this competition will follow.</p>

Gregor, Daniel, and Pascal<br/>
Organizers of the IPC 2020,<br/>
May 2021}
}

%% WIPC WORKSHOP



@proceedings{WIPC2021Proceedings,
  Title           = {Proceedings of the Workshop on the International Planning Competition (WIPC 2021)},
  editor          = {Gregor Behnke and Daniel H{\"o}ller and Pascal Bercher},
  Year            = {2021},
  url_Proceedings = {https://bercher.net/publications/2021/WIPC2021Proceedings.pdf},
  url_Workshop    = {https://icaps21.icaps-conference.org/workshops/WIPC/}
}

%% HPLAN WORKSHOP



@Proceedings{HPlan2023proceedings,
  editor          = {Pascal Bercher and Daniel H\"oller and Julia Wichlacz and Ron Alford},
  title           = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},
  year            = {2023},
  url_website     = {http://hplan2023.hierarchical-task.net},
  url_proceedings = {https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf}
}



@Proceedings{HPlan2022proceedings,
  editor          = {Pascal Bercher and Jane Jean Kiam and Arthur Bit-Monnot and Ron Alford},
  title           = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},
  year            = {2022},
  url_website     = {http://hplan2022.hierarchical-task.net},
  url_proceedings = {https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf}
}



@proceedings{HPlan2021proceedings,
  Title           = {Proceedings of the 4thd ICAPS Workshop on Hierarchical Planning (HPlan 2021)},
  editor          = {Pascal Bercher and Jane Jean Kiam and Zhanhao Xiao and Ron Alford},
  Year            = {2021},
  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf},
  url_Workshop    = {http://hplan2021.hierarchical-task.net}
}



@proceedings{HPlan2020proceedings,
  Title           = {Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)},
  editor          = {Pascal Bercher and Daniel H{\"o}ller and Roman Bart{\'a}k and Ron Alford},
  Year            = {2020},
  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf},
  url_Workshop    = {http://hplan2020.hierarchical-task.net}
}



@proceedings{HPlan2019proceedings,
  Title           = {Proceedings of the 2nd ICAPS Workshop on Hierarchical Planning (HPlan 2019)},
  editor          = {Pascal Bercher and Gregor Behnke and Vikas Shivashankar and Ron Alford},
  Year            = {2019},
  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf},
  url_Workshop    = {http://hplan2019.hierarchical-task.net}
}



@proceedings{HPlan2018proceedings,
  Title           = {Proceedings of the 1st ICAPS Workshop on Hierarchical Planning (HPlan 2018)},
  editor          = {Pascal Bercher and Daniel H{\"o}ller and Susanne Biundo and Ron Alford},
  Year            = {2018},
  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf},
  url_Workshop    = {http://hplan2018.hierarchical-task.net}
}



% NORMAL PAPERS (of various kind)



@inproceedings{Wu2023IPCLinearizer,
  title     = {Grounded (Lifted) Linearizer at the IPC 2023: Solving Partial Order HTN Problems by Linearizing Them},
  author    = {Ying Xian Wu and Conny Olz and Songtuan Lin and Pascal Bercher},
  booktitle = {Proceedings of the 11th {I}nternational {P}lanning {C}ompetition: Planner Abstracts -- Hierarchical Task Network (HTN) Planning Track, {IPC} 2023},
  year      = {2023},
  abstrac   = {In this paper, we would like to present Grounded (Lifted) Linearizer, a hierarchical task network (HTN) planning system which won the Partial Order (PO) Agile and Satisficing tracks of the International Planning Competition 2023 on Hierarchical Task Network (HTN) Planning. This system consists of two parts. The first part is a preprocessor developed in house which transforms a POHTN problem into a total order (TO) one and which is the main contribution of this paper. The second part is an existing HTN planner. The outstanding performance of our assembled planning system thus serves as an evidence for how our preprocessor can enhance the efficiency of other existing planners.},
  url_Paper = {https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf}
} 



@inproceedings{Olz2023IPCPANDADealer,
  title     = {The PANDADealer System for Totally Ordered HTN Planning in the 2023 IPC},
  author    = {Conny Olz and Daniel H{\"o}ller and Pascal Bercher},
  booktitle = {Proceedings of the 11th {I}nternational {P}lanning {C}ompetition: Planner Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC)},
  year      = {2023},
  abstract  = {The PANDADealer system is an HTN planning system for solving totally ordered HTN planning problems. It builds on the heuristic progression search of the PANDApro system, and extends it with a look-ahead technique to detect dead-ends and inevitable refinement choices. The technique is based on inferred preconditions and effects of tasks, or more precisely, their decomposition methods.},
  url_Paper = {https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf}
}



@Article{Bercher2023SurveyOfOwnWorkAbstract,
  author    = {Pascal Bercher},
  title     = {Hierarchical Planning and Reasoning about Partially Ordered Plans -- From Theory to Practice (extended abstract)},
  journal   = {Interactive AI Magazine},
  year      = {2023},
  abstract  = {This is an invited paper and part of the New Faculty Highlights Invited Speaker Program of AAAI'21. It surveys some of my work done until today in hierarchical task network (HTN) planning as well as partial order causal link (POCL) planning. Lines or research outlined include complexity investigations, heuristic search, as well as practical application for planning-based assistants.},
  url_Paper-AIMag = {https://interactiveaimag.org/columns/articles/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice-new-faculty-highlights-extended-abstract/},
  url_Paper = {https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf},
  url_video_of_presentation = {https://slideslive.com/38952027/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice}
}



@inproceedings{Schattenberg2021Woodworking,
  title                    = {The Hierarchical Woodworking Domain},
  author                   = {Bernd Schattenberg and Pascal Bercher},
  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},
  year                     = {2021},
  pages                    = {43--44},
  abstract                 = {The Woodworking domain is one of the classical benchmark domains in the canon of the International Planning Competition. This paper describes our hierarchical take on it.},
  url_Paper                = {https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf}
}



@inproceedings{Bercher2021Smartphone,
  title                    = {The Smartphone Domain},
  author                   = {Pascal Bercher and Susanne Biundo and Bernd Schattenberg},
  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},
  year                     = {2021},
  pages                    = {47--47},
  abstract                 = {This extended abstract is about the Smartphone domain, submitted as a benchmark domain to the IPC 2020.},
  url_Paper                = {https://bercher.net/publications/2021/Bercher2021Smartphone.pdf}
}



@inproceedings{Hoeller2021PCP,
  title                    = {From PCP to HTN Planning Through CFGs},
  author                   = {Daniel H\"oller and Songtuan Lin and Kutluhan Erol and Pascal Bercher},
  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},
  year                     = {2021},
  pages                    = {24--25},
  abstract                 = {The International Planning Competition in 2020 was the first one for a long time to host tracks on HTN planning. The used benchmark set included a domain describing the undecidable Post Correspondence Problem (PCP). In this paper we describe the two-step process applied to generate HTN problems based on PCP instances. It translates the PCP into a grammar intersection problem of two context-free languages, which is then encoded into an HTN problem.},
  url_Paper                = {https://bercher.net/publications/2021/Hoeller2021PCP.pdf}
}



@TechReport{Bercher2018AssemblyAssistant,
  author                   = {Pascal Bercher and Felix Richter and Frank Honold and Florian Nielsen and Felix Schüssel and Thomas Geier and Thilo Hörnle and Stephan Reuter and Daniel H{\"o}ller and Gregor Behnke and Klaus Dietmayer and Wolfgang Minker and Michael Weber and Susanne Biundo},
  title                    = {A Companion-System Architecture for Realizing Individualized and Situation-Adaptive User Assistance},
  institution              = {Ulm University},
  year                     = {2018},
  doi                      = {10.18725/OPARU-11023},
  pages                    = {1--48},
  abstract                 = {We show how techniques from various research areas -- most notably hierarchical planning, dialog management, and interaction management -- can be employed to realize individualized and situation-adaptive user assistance. We introduce a modular system architecture that is composed of domain-independent components implementing techniques from the respective areas. Systems based on this architecture -- so-called \emph{Companion}-Systems -- can provide intelligent assistance in a broad variety of tasks. They provide a user- and situation-adapted sequence of instructions that show how achieve the respective task. Additional explanations are, like the instructions themselves, automatically derived based on a declarative model of the current task. These systems can react to unforeseen execution failures repairing their underlying plans if required. We introduce a prototype system that assists with setting up a home theater and use it as a running example as well as for an empirical evaluation with test subjects that shows the usefulness of our approach. We summarize the work of more than half a decade of research and development done by various research groups from different disciplines. Here, for the first time, we explain the full integration of all components thereby showing ``the complete picture'' of our approach to provide individualized and situation-adaptive user assistance.},
  url_Paper                = {https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf}
}



@Article{Bercher2016SmithInterview,
  Title                    = {Interview with {David E. Smith}},
  Author                   = {Pascal Bercher and Daniel H\"oller},
  Journal                  = {K{\"u}nstliche Intelligenz},
  Year                     = {2016},
  Note                     = {Special Issue on Companion Technologies},
  Number                   = {1},
  Pages                    = {101--105},
  Volume                   = {30},
  Doi                      = {10.1007/s13218-015-0403-y},
  abstract                 = {David E. Smith is a senior Researcher in the Intelligent Systems Division at NASA Ames Research Center. He received his Ph.D. in 1985 from Stanford University, and spent time as a Research Associate at Stanford, a Scientist at the Rockwell Palo Alto Science Center, and a Visiting Scholar at the University of Washington before joining NASA in 1997. Beginning in 1999, he served as the lead of the 18 member planning and scheduling group at NASA Ames for 6 years before abdicating to devote more time to research. Much of his research has focused on pushing the boundaries of AI planning technology to handle richer models of time, concurrency, exogenous events, uncertainty, and oversubscription. Smith served as an Associate Editor for the Journal of Artificial Intelligence Research (JAIR) from 2001–2004, and as Guest Editor for the JAIR Special Issue and Special Track on the 3rd and 4th International Planning Competitions. He served on the JAIR Advisory Board 2004–2007. Smith was recognized as a AAAI Fellow in 2005, and served on the AAAI Executive Council 2007–2010.},
  url_Paper                = {https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf}
}



@Article{Biundo2016Editorial,
  Title                    = {Special Issue on Companion Technologies},
  Author                   = {Susanne Biundo and Daniel H\"oller and Pascal Bercher},
  Journal                  = {K{\"u}nstliche Intelligenz},
  Year                     = {2016},
  Note                     = {This is the editorial of our Special Issue on Companion Technologies, in which we were the guest editors},
  Number                   = {1},
  Pages                    = {5--9},
  Volume                   = {30},
  Doi                      = {10.1007/s13218-015-0421-9},
  abstract                 = {Dear reader, at present, we observe a rapid growth in the development of increasingly complex ``intelligent systems'' that serve users throughout all areas of their daily lives. They range from classical technical systems such as household appliances, cars, or consumer electronics through mobile apps and services to advanced service robots in various fields of application. While many of the rather conventional systems already provide multiple modalities to interact with, the most advanced are even equipped with cognitive abilities such as perception, cognition, and reasoning. However, the use of such complex technical systems and in particular the actual exploitation of their rich functionality remain challenging and quite often lead to users' cognitive overload and frustration. Companion Technologies bridge the gap between the extensive functionality of technical systems and human users' individual requirements and needs. They enable the construction of really smart -- adaptive, flexible, and cooperative -- technical systems by applying and fusing techniques from different areas of research. In our special issue we present interesting pieces of work -- quite a number of new technical contributions, ongoing and completed research projects, several dissertation abstracts, as well as an interview -- that are related to, or even fundamental for, Companion-Technology. In the community part of this issue, there is also a conference report on the first International Symposium on Companion-Technology},
  url_Paper                = {https://bercher.net/publications/2016/Biundo2016Editorial.pdf}
}



@InProceedings{Bercher2018DissertationAbstract,
  Title                    = {Hybrides Planen --- Von der Theorie zur Praxis},
  Author                   = {Pascal Bercher},
  Booktitle                = {Ausgezeichnete Informatikdissertationen 2017},
  Year                     = {2018},
  pages                    = {21--30},
  Publisher                = {Gesellschaft für Informatik},
  abstract                 = {Die Dissertation legt Grundlagen, die es erlauben, Planungstechnologie der Künstlichen Intelligenz als Basis für flexible Assistenzsysteme einzusetzen. Die Aufgabe der automatischen Handlungsplanung ist es hierbei, selbständig einen Plan zu entwickeln, der dem Nutzer Schritt für Schritt präsentiert wird und ihn oder sie bei der Bearbeitung einer entsprechenden Aufgabe anleitet. Durch die starke Miteinbeziehung eines menschlichen Nutzers ergeben sich viele neue Herausforde- rungen: Pläne müssen schnell gefunden werden; und sie sollen nicht nur korrekt sein, sondern auch kostengünstig und dem Nutzer plausibel erscheinen; und sie sollen erklärbar sein, um Transparenz zu schaffen. Aus diesem Grund wurde das hybride Planen gewählt, ein hierarchischer, nicht-linearer Planungsansatz. Es wurden neue Komplexitätsergebnisse für das Planexistenz- und das Planverifikationsproblem erzielt; die ersten zulässigen Heuristiken erforscht, welche das Finden optimaler Pläne garantieren; und es wurde ein prototypisches Assistenzsystem realisiert, das seinen Nutzer bei dem Aufbau einer komplexen Heimkinoanlage unterstützt.},
  note                     = {This dissertation abstract (in German) was written as part of being nominated for the GI (Gesellschaft für Informatik, eng.: Society for Computer Science) Best Dissertation Award 2017.},
  url_Paper                = {https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf},
  url_Slides               = {https://bercher.net/publications/2018/Bercher2018DissertationAbstractSlides.pdf},
  url_Proceedings          = {https://dl.gi.de/bitstream/handle/20.500.12116/19479/lni-d-18-komplet.pdf},
  url_Papers-of-Nominated-Theses = {https://dl.gi.de/handle/20.500.12116/19456}
}



@InProceedings{Bercher2015DissertationAbstractDC,
  Title                    = {Hybrid Planning -- Theoretical Foundations and Practical Applications},
  Author                   = {Pascal Bercher},
  Booktitle                = {Doctoral Consortium at ICAPS 2015 (ICAPS DC 2015)},
  Year                     = {2015},
  abstract                 = {The thesis presents a novel set-theoretic formalization of (propositional) hybrid planning -- a planning framework that fuses Hierarchical Task Network (HTN) planning with Partial-Order Causal-Link (POCL) planning. Several sub classes thereof are identified that capture well-known problems such as HTN planning and POCL planning. For these problem classes, the complexity of the plan-existence problem is investigated, i.e., the problem of deciding whether there exists a solution for a given planning problem. For solving the problems of the respective problem classes, a hybrid planning algorithm is presented. Its search is guided by informed heuristics. Several such heuristics are introduced, both for POCL planning problems (i.e., problems without task hierarchy) and for hybrid planning problems (i.e., heuristics that are ''hierarchy-aware'').},
  url_Paper                = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf},
  url_Slides               = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCSlides.pdf},
  url_Poster               = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCPoster.pdf}
}



@PhdThesis{Bercher2017PhDThesis,
  Title                    = {Hybrid Planning --- From Theory to Practice},
  Author                   = {Pascal Bercher},
  School                   = {Ulm University},
  Year                     = {2018},
  doi                      = {10.18725/OPARU-5242},
  abstract                 = {This work lays fundamental groundwork for the development of so-called Companion Systems - cognitive technical systems that are capable to reason about themselves, their users and environment, and to plan a course of action to achieve their users' goals. They are intelligent devices that assist their users in operating them: instead of the user having to learn how to operate the respective system, the system is intelligent and flexible enough to provide its functionality in a truly user-friendly way. 

To fully meet a user's demands, Companion Systems rely on a multi-facet of capabilities that stem from different disciplines, such as Artificial Intelligence (AI) planning, knowledge representation and reasoning, dialog management, and user interaction management, to name just a few. This thesis focuses on the relevant aspects of AI planning technology that are of importance for such systems. AI planning is the central technology for many Companion Systems as it allows to compute a course of action that, if followed by its user, achieves his or her goals and therefore serves as a basis of providing advanced user assistance. This thesis is concerned with hybrid planning - a hierarchical planning formalism that is especially suited for the basis of providing assistance to human users. Based on this formalism we will investigate the full endeavor of developing Companion Systems - from theory to practice. 

The thesis presents a novel formalization for hierarchical planning problems, which has become a standard in the field. We present a categorization of different problem classes into which hybrid planning as well as other well-known problem classes fall. This formalization allowed to prove a series of novel complexity results that are of interest both for theoretical and practical considerations. For many of the identified classes we introduce novel heuristics that are used to speed up the solution generation process. Some of them are the very first for the respective problem class, and some are the first admissible ones, thereby allowing to find optimal solutions -- which is especially important when plans are generated for human users. We apply hybrid planning in a prototypical Companion System. It assists a user in the task of setting up a complex home entertainment system. Based on a declarative (planning) model of the available hardware and its functionality, the assistant computes a sequence of actions that the user simply needs to follow to complete the setup task. Several so-called user-centered planning capabilities are applied in this system, such as a technique for generating user-friendly linearizations of non-linear plans or the capability to answer questions about the necessity of actions - an essential property to ensure transparency of the system's behavior. In conclusion: Most modern technical devices are still lacking true intelligence - since no research such as AI planning is sufficiently applied, so there is still huge potential in making such devices really smart by implementing them as cognitive systems that effectively assist their human users. Applying the research presented in this thesis is one step towards achieving this goal.},
  note                        = {This work won the ICAPS Best Dissertation Award 2019.},
  url_Dissertation            = {https://bercher.net/publications/2017/Bercher2017Dissertation.pdf},
  url_Slides-from-ICAPS-Award = {https://bercher.net/publications/2017/Bercher2019ICAPSDissertationTalk.pdf}
}



@techreport{Bercher2008FONDPGHeuristicTR,
  author                      = {Pascal Bercher and Robert Mattm{\"u}ller},
  title                       = {A Planning Graph Heuristic for Forward-Chaining Adversarial Planning},
  institution                 = {University of Freiburg, Germany},
  year                        = {2008},
  number                      = {238},
  month                       = {7},
  abstract                    = {In contrast to classical planning, in adversarial planning, the planning agent has to face an adversary trying to prevent him from reaching his goals. In this report, we investigate a forward-chaining approach to adversarial planning based on the AO* algorithm. The exploration of the underlying AND/OR graph is guided by a heuristic evaluation function, inspired by the relaxed planning graph heuristic used in the FF planner. Unlike FF, our heuristic uses an adversarial planning graph with distinct proposition and action layers for the protagonist and antagonist. First results suggest that in certain planning domains, our approach yields results competitive with the state of the art.},
  url_Paper                  = {https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf}
}
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In order to keep using Mendeley with BibBase past April\n        14th, you need to:\n        <ol>\n          <li>renew the authorization for BibBase on Mendeley, and</li>\n          <li>update the BibBase URL\n            in your page the same way you did when you initially set up\n            this page.\n          </li>\n        </ol>\n      </p>\n\n      <p>\n        <a href=\"http://bibbase.org/cgi-bin/mendeley2/get.py\">\n          <i class=\"fa fa-angle-double-right\"></i>\n          Fix it now</a>\n      </p>\n    </div>\n\n  </div>\n\n\n  <div id=\"bibbase_body\">\n    \n  \n  <div class=\"bibbase_group_whole\" id=\"group_2023\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2023')\"\n      onkeypress=\"toggleGroup('group_2023')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2023</span>\n      <span class=\"bibbase_group_count\">\n        \n        (8)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"olz-bercher-experimentalresultsforthesocs2023paperalookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Experimental Results for the SoCS 2023 Paper ``A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements''.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Conny Olz;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n   2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.5281/zenodo.7900414\"\n     onclick=\"log_download('olz-bercher-experimentalresultsforthesocs2023paperalookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023', 'http://doi.org/10.5281/zenodo.7900414', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/olz-bercher-experimentalresultsforthesocs2023paperalookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('olz-bercher-experimentalresultsforthesocs2023paperalookaheadtechniqueforsearchbasedhtnplanningreducingthebranchingfactorbyidentifyinginevitabletaskrefinements-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Misc{Olz2023ExperimentalData,\n  author       = {Conny Olz and Pascal Bercher},\n  title        = {Experimental Results for the SoCS 2023 Paper &#x60;&#x60;A Look-Ahead Technique for Search-Based HTN Planning: Reducing the Branching Factor by Identifying Inevitable Task Refinements&#x27;&#x27;},\n  year         = {2023},\n  copyright    = {Creative Commons Attribution 4.0 International},\n  doi          = {10.5281/zenodo.7900414},\n  publisher    = {Zenodo}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sleath-bercher-experimentalresultsforthepricai2023paperdetectingaiplanningmodellingmistakespotentialerrorsandbenchmarkdomains-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Experimental Results for the PRICAI 2023 Paper ``Detecting AI Planning Modelling Mistakes – Potential Errors and Benchmark Domains''.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kayleigh Sleath;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n   2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.5281/zenodo.8249689\"\n     onclick=\"log_download('sleath-bercher-experimentalresultsforthepricai2023paperdetectingaiplanningmodellingmistakespotentialerrorsandbenchmarkdomains-2023', 'http://doi.org/10.5281/zenodo.8249689', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sleath-bercher-experimentalresultsforthepricai2023paperdetectingaiplanningmodellingmistakespotentialerrorsandbenchmarkdomains-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sleath-bercher-experimentalresultsforthepricai2023paperdetectingaiplanningmodellingmistakespotentialerrorsandbenchmarkdomains-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Misc{Sleath2023ExperimentalData,\n  author       = {Kayleigh Sleath and Pascal Bercher},\n  title        = {Experimental Results for the PRICAI 2023 Paper &#x60;&#x60;Detecting AI Planning Modelling Mistakes -- Potential Errors and Benchmark Domains&#x27;&#x27;},\n  year         = {2023},\n  copyright    = {Creative Commons Attribution 4.0 International},\n  doi          = {10.5281/zenodo.8249689},\n  publisher    = {Zenodo}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lin-grastien-bercher-experimentalresultsfortheaaai2023papertowardsautomatedmodelingassistanceanefficientapproachforrepairingflawedplanningdomains-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Experimental Results for the AAAI 2023 Paper ``Towards Automated Modeling Assistance: An Efficient Approach for Repairing Flawed Planning Domains''.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Songtuan Lin;  Alban Grastien;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n   2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.5281/zenodo.7690016\"\n     onclick=\"log_download('lin-grastien-bercher-experimentalresultsfortheaaai2023papertowardsautomatedmodelingassistanceanefficientapproachforrepairingflawedplanningdomains-2023', 'http://doi.org/10.5281/zenodo.7690016', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lin-grastien-bercher-experimentalresultsfortheaaai2023papertowardsautomatedmodelingassistanceanefficientapproachforrepairingflawedplanningdomains-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lin-grastien-bercher-experimentalresultsfortheaaai2023papertowardsautomatedmodelingassistanceanefficientapproachforrepairingflawedplanningdomains-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Misc{Lin2023RepairingClassicalModelsExperimentalResults,\n  author       = {Songtuan Lin and Alban Grastien and Pascal Bercher},\n  title        = {Experimental Results for the AAAI 2023 Paper &#x60;&#x60;Towards Automated Modeling Assistance: An Efficient Approach for Repairing Flawed Planning Domains&#x27;&#x27;},\n  year         = {2023},\n  copyright    = {Creative Commons Attribution 4.0 International},\n  doi          = {10.5281/zenodo.7690016},\n  publisher    = {Zenodo}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lin-behnke-ondrkov-bartk-bercher-experimentalresultsfortheaaai2023paperontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Experimental Results for the AAAI 2023 Paper ``On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm''.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Songtuan Lin;  Gregor Behnke;  Simona Ondrčková;  Roman Barták;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n   2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.5281/zenodo.7704558\"\n     onclick=\"log_download('lin-behnke-ondrkov-bartk-bercher-experimentalresultsfortheaaai2023paperontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2023', 'http://doi.org/10.5281/zenodo.7704558', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lin-behnke-ondrkov-bartk-bercher-experimentalresultsfortheaaai2023paperontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lin-behnke-ondrkov-bartk-bercher-experimentalresultsfortheaaai2023paperontotalorderhtnplanverificationwithmethodpreconditionsanextensionofthecykparsingalgorithm-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Misc{Lin2023ExperimentalResultsTOVerification,\n  author       = {Songtuan Lin and Gregor Behnke and Simona Ondr\\v{c}kov{\\&#x27;{a}} and Roman Bart{\\&#x27;{a}}k and Pascal Bercher},\n  title        = {Experimental Results for the AAAI 2023 Paper &#x60;&#x60;On Total-Order HTN Plan Verification with Method Preconditions -- An Extension of the CYK Parsing Algorithm&#x27;&#x27;},\n  year         = {2023},\n  copyright    = {Creative Commons Attribution 4.0 International},\n  doi          = {10.5281/zenodo.7704558},\n  publisher    = {Zenodo},\n}\n\n\n\n% PROCEEDINGS OF VARIOUS KINDS\n\n%% ICAPS DOCTORAL CONSORTIUM\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-hller-wichlacz-alford-proceedingsofthe6thicapsworkshoponhierarchicalplanninghplan2023-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-hller-wichlacz-alford-proceedingsofthe6thicapsworkshoponhierarchicalplanninghplan2023-2023', 'https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf', event);\">\n    Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Daniel Höller;  Julia Wichlacz;  and  Ron Alford.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hplan2023.hierarchical-task.net\"\n     onclick=\"log_download('bercher-hller-wichlacz-alford-proceedingsofthe6thicapsworkshoponhierarchicalplanninghplan2023-2023', 'http://hplan2023.hierarchical-task.net', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023) [link]\"\n       title=\" website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> website</span></a>\n  &nbsp;\n  \n  <a href=\"https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf\"\n     onclick=\"log_download('bercher-hller-wichlacz-alford-proceedingsofthe6thicapsworkshoponhierarchicalplanninghplan2023-2023', 'https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023) [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-hller-wichlacz-alford-proceedingsofthe6thicapsworkshoponhierarchicalplanninghplan2023-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-hller-wichlacz-alford-proceedingsofthe6thicapsworkshoponhierarchicalplanninghplan2023-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Proceedings{HPlan2023proceedings,\n  editor          = {Pascal Bercher and Daniel H\\&quot;oller and Julia Wichlacz and Ron Alford},\n  title           = {Proceedings of the 6th ICAPS Workshop on Hierarchical Planning (HPlan 2023)},\n  year            = {2023},\n  url_website     = {http://hplan2023.hierarchical-task.net},\n  url_proceedings = {https://icaps23.icaps-conference.org/papers/hplan/HPlanProceedings-2023.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wu-olz-lin-bercher-groundedliftedlinearizerattheipc2023solvingpartialorderhtnproblemsbylinearizingthem-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wu-olz-lin-bercher-groundedliftedlinearizerattheipc2023solvingpartialorderhtnproblemsbylinearizingthem-2023', 'https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf', event);\">\n    Grounded (Lifted) Linearizer at the IPC 2023: Solving Partial Order HTN Problems by Linearizing Them.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ying Xian Wu;  Conny Olz;  Songtuan Lin;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 11th International Planning Competition: Planner Abstracts – Hierarchical Task Network (HTN) Planning Track, IPC 2023</i>,  2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf\"\n     onclick=\"log_download('wu-olz-lin-bercher-groundedliftedlinearizerattheipc2023solvingpartialorderhtnproblemsbylinearizingthem-2023', 'https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Grounded (Lifted) Linearizer at the IPC 2023: Solving Partial Order HTN Problems by Linearizing Them [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wu-olz-lin-bercher-groundedliftedlinearizerattheipc2023solvingpartialorderhtnproblemsbylinearizingthem-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wu-olz-lin-bercher-groundedliftedlinearizerattheipc2023solvingpartialorderhtnproblemsbylinearizingthem-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{Wu2023IPCLinearizer,\n  title     = {Grounded (Lifted) Linearizer at the IPC 2023: Solving Partial Order HTN Problems by Linearizing Them},\n  author    = {Ying Xian Wu and Conny Olz and Songtuan Lin and Pascal Bercher},\n  booktitle = {Proceedings of the 11th {I}nternational {P}lanning {C}ompetition: Planner Abstracts -- Hierarchical Task Network (HTN) Planning Track, {IPC} 2023},\n  year      = {2023},\n  abstrac   = {In this paper, we would like to present Grounded (Lifted) Linearizer, a hierarchical task network (HTN) planning system which won the Partial Order (PO) Agile and Satisficing tracks of the International Planning Competition 2023 on Hierarchical Task Network (HTN) Planning. This system consists of two parts. The first part is a preprocessor developed in house which transforms a POHTN problem into a total order (TO) one and which is the main contribution of this paper. The second part is an existing HTN planner. The outstanding performance of our assembled planning system thus serves as an evidence for how our preprocessor can enhance the efficiency of other existing planners.},\n  url_Paper = {https://bercher.net/publications/2023/Wu2023IPCLinearizer.pdf}\n} \n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"olz-hller-bercher-thepandadealersystemfortotallyorderedhtnplanninginthe2023ipc-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'olz-hller-bercher-thepandadealersystemfortotallyorderedhtnplanninginthe2023ipc-2023', 'https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf', event);\">\n    The PANDADealer System for Totally Ordered HTN Planning in the 2023 IPC.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Conny Olz;  Daniel Höller;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 11th International Planning Competition: Planner Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC)</i>,  2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf\"\n     onclick=\"log_download('olz-hller-bercher-thepandadealersystemfortotallyorderedhtnplanninginthe2023ipc-2023', 'https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The PANDADealer System for Totally Ordered HTN Planning in the 2023 IPC [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/olz-hller-bercher-thepandadealersystemfortotallyorderedhtnplanninginthe2023ipc-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('olz-hller-bercher-thepandadealersystemfortotallyorderedhtnplanninginthe2023ipc-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{Olz2023IPCPANDADealer,\n  title     = {The PANDADealer System for Totally Ordered HTN Planning in the 2023 IPC},\n  author    = {Conny Olz and Daniel H{\\&quot;o}ller and Pascal Bercher},\n  booktitle = {Proceedings of the 11th {I}nternational {P}lanning {C}ompetition: Planner Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC)},\n  year      = {2023},\n  abstract  = {The PANDADealer system is an HTN planning system for solving totally ordered HTN planning problems. It builds on the heuristic progression search of the PANDApro system, and extends it with a look-ahead technique to detect dead-ends and inevitable refinement choices. The technique is based on inferred preconditions and effects of tasks, or more precisely, their decomposition methods.},\n  url_Paper = {https://bercher.net/publications/2023/Olz2023IPCPANDADealer.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The PANDADealer system is an HTN planning system for solving totally ordered HTN planning problems. It builds on the heuristic progression search of the PANDApro system, and extends it with a look-ahead technique to detect dead-ends and inevitable refinement choices. The technique is based on inferred preconditions and effects of tasks, or more precisely, their decomposition methods.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-hierarchicalplanningandreasoningaboutpartiallyorderedplansfromtheorytopracticeextendedabstract-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-hierarchicalplanningandreasoningaboutpartiallyorderedplansfromtheorytopracticeextendedabstract-2023', 'https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf', event);\">\n    Hierarchical Planning and Reasoning about Partially Ordered Plans – From Theory to Practice (extended abstract).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  <i>Interactive AI Magazine</i>.  2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://interactiveaimag.org/columns/articles/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice-new-faculty-highlights-extended-abstract/\"\n     onclick=\"log_download('bercher-hierarchicalplanningandreasoningaboutpartiallyorderedplansfromtheorytopracticeextendedabstract-2023', 'https://interactiveaimag.org/columns/articles/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice-new-faculty-highlights-extended-abstract/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hierarchical Planning and Reasoning about Partially Ordered Plans – From Theory to Practice (extended abstract) [link]\"\n       title=\" paper-aimag\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper-aimag</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf\"\n     onclick=\"log_download('bercher-hierarchicalplanningandreasoningaboutpartiallyorderedplansfromtheorytopracticeextendedabstract-2023', 'https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hierarchical Planning and Reasoning about Partially Ordered Plans – From Theory to Practice (extended abstract) [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://slideslive.com/38952027/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice\"\n     onclick=\"log_download('bercher-hierarchicalplanningandreasoningaboutpartiallyorderedplansfromtheorytopracticeextendedabstract-2023', 'https://slideslive.com/38952027/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hierarchical Planning and Reasoning about Partially Ordered Plans – From Theory to Practice (extended abstract) [link]\"\n       title=\" video of presentation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video of presentation</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-hierarchicalplanningandreasoningaboutpartiallyorderedplansfromtheorytopracticeextendedabstract-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-hierarchicalplanningandreasoningaboutpartiallyorderedplansfromtheorytopracticeextendedabstract-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Article{Bercher2023SurveyOfOwnWorkAbstract,\n  author    = {Pascal Bercher},\n  title     = {Hierarchical Planning and Reasoning about Partially Ordered Plans -- From Theory to Practice (extended abstract)},\n  journal   = {Interactive AI Magazine},\n  year      = {2023},\n  abstract  = {This is an invited paper and part of the New Faculty Highlights Invited Speaker Program of AAAI&#x27;21. It surveys some of my work done until today in hierarchical task network (HTN) planning as well as partial order causal link (POCL) planning. Lines or research outlined include complexity investigations, heuristic search, as well as practical application for planning-based assistants.},\n  url_Paper-AIMag = {https://interactiveaimag.org/columns/articles/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice-new-faculty-highlights-extended-abstract/},\n  url_Paper = {https://bercher.net/publications/2023/Bercher2023SurveyOfOwnWorkAbstract.pdf},\n  url_video_of_presentation = {https://slideslive.com/38952027/hierarchical-planning-and-reasoning-about-partially-ordered-plans-from-theory-to-practice}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This is an invited paper and part of the New Faculty Highlights Invited Speaker Program of AAAI'21. It surveys some of my work done until today in hierarchical task network (HTN) planning as well as partial order causal link (POCL) planning. Lines or research outlined include complexity investigations, heuristic search, as well as practical application for planning-based assistants.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2022\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2022')\"\n      onkeypress=\"toggleGroup('group_2022')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2022</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bercher-bernardini-proceedingsofthe20thicapsdoctoralconsortiumicapsdc2022-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-bernardini-proceedingsofthe20thicapsdoctoralconsortiumicapsdc2022-2022', 'https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf', event);\">\n    Proceedings of the 20th ICAPS Doctoral Consortium (ICAPS DC 2022).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  and  Sara Bernardini.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://icaps22.icaps-conference.org/dc-2022\"\n     onclick=\"log_download('bercher-bernardini-proceedingsofthe20thicapsdoctoralconsortiumicapsdc2022-2022', 'https://icaps22.icaps-conference.org/dc-2022', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proceedings of the 20th ICAPS Doctoral Consortium (ICAPS DC 2022) [link]\"\n       title=\" website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> website</span></a>\n  &nbsp;\n  \n  <a href=\"https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf\"\n     onclick=\"log_download('bercher-bernardini-proceedingsofthe20thicapsdoctoralconsortiumicapsdc2022-2022', 'https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of the 20th ICAPS Doctoral Consortium (ICAPS DC 2022) [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-bernardini-proceedingsofthe20thicapsdoctoralconsortiumicapsdc2022-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>12 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-bernardini-proceedingsofthe20thicapsdoctoralconsortiumicapsdc2022-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Proceedings{ICAPS-DC-2022,\n  title           = {Proceedings of the 20th ICAPS Doctoral Consortium (ICAPS DC 2022)},\n  year            = {2022},\n  editor          = {Pascal Bercher and Sara Bernardini},\n  abstract        = {This is the proceedings of the ICAPS Doctoral Consortium 2022.},\n  url_website     = {https://icaps22.icaps-conference.org/dc-2022},\n  url_proceedings = {https://icaps22.icaps-conference.org/dc/DC-Proceedings-2022.pdf}\n}\n\n%% IPC Booklet\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This is the proceedings of the ICAPS Doctoral Consortium 2022.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-kiam-bitmonnot-alford-proceedingsofthe5thicapsworkshoponhierarchicalplanninghplan2022-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-kiam-bitmonnot-alford-proceedingsofthe5thicapsworkshoponhierarchicalplanninghplan2022-2022', 'https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf', event);\">\n    Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Jane Jean Kiam;  Arthur Bit-Monnot;  and  Ron Alford.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://hplan2022.hierarchical-task.net\"\n     onclick=\"log_download('bercher-kiam-bitmonnot-alford-proceedingsofthe5thicapsworkshoponhierarchicalplanninghplan2022-2022', 'http://hplan2022.hierarchical-task.net', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022) [link]\"\n       title=\" website\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> website</span></a>\n  &nbsp;\n  \n  <a href=\"https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf\"\n     onclick=\"log_download('bercher-kiam-bitmonnot-alford-proceedingsofthe5thicapsworkshoponhierarchicalplanninghplan2022-2022', 'https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022) [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-kiam-bitmonnot-alford-proceedingsofthe5thicapsworkshoponhierarchicalplanninghplan2022-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>27 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-kiam-bitmonnot-alford-proceedingsofthe5thicapsworkshoponhierarchicalplanninghplan2022-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Proceedings{HPlan2022proceedings,\n  editor          = {Pascal Bercher and Jane Jean Kiam and Arthur Bit-Monnot and Ron Alford},\n  title           = {Proceedings of the 5th ICAPS Workshop on Hierarchical Planning (HPlan 2022)},\n  year            = {2022},\n  url_website     = {http://hplan2022.hierarchical-task.net},\n  url_proceedings = {https://icaps22.icaps-conference.org/workshops/HPlan/papers/HPlanProceedings-2022.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2021\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2021')\"\n      onkeypress=\"toggleGroup('group_2021')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2021</span>\n      <span class=\"bibbase_group_count\">\n        \n        (6)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"behnke-hller-bercher-proceedingsof10thinternationalplanningcompetitionplanneranddomainabstractshierarchicaltasknetworkhtnplanningtrackipc2020-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'behnke-hller-bercher-proceedingsof10thinternationalplanningcompetitionplanneranddomainabstractshierarchicaltasknetworkhtnplanningtrackipc2020-2021', 'https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf', event);\">\n    Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Gregor Behnke;  Daniel Höller;  and  Pascal Bercher.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf\"\n     onclick=\"log_download('behnke-hller-bercher-proceedingsof10thinternationalplanningcompetitionplanneranddomainabstractshierarchicaltasknetworkhtnplanningtrackipc2020-2021', 'https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020) [pdf]\"\n       title=\" ipc-booklet\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> ipc-booklet</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/behnke-hller-bercher-proceedingsof10thinternationalplanningcompetitionplanneranddomainabstractshierarchicaltasknetworkhtnplanningtrackipc2020-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('behnke-hller-bercher-proceedingsof10thinternationalplanningcompetitionplanneranddomainabstractshierarchicaltasknetworkhtnplanningtrackipc2020-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@proceedings{IPC2020Booklet,\n  title                    = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},\n  year                     = {2021},\n  editor                   = {Gregor Behnke and Daniel H{\\&quot;o}ller and Pascal Bercher},\n  url_IPC-Booklet          = {https://bercher.net/publications/2021/Behnke2021IPC-Booklet.pdf},\n  abstract                 = {&lt;p&gt;Since its first edition in 1998, the International Planning Competition (IPC) has been an integral event of the planning community. For more than 20 years, it established unified input languages for planners, enabled an objective comparison between them based on an accessible benchmark set. The IPC drove the development of planners and fostered research. Thus, the IPC enabled planning researchers to compare their own work against the work of others -- not only within the competition, but also outside of it. Due to the IPC almost all contemporary planners understand (some form of) PDDL, which allows for using IPC benchmarks across a multitude of planners.&lt;/p&gt;\n\n&lt;p&gt;The first two IPCs had -- in addition to the regular track -- a track on hand-tailored planners in which the planners could be provided with additional information or select their algorithms based on the input domain. Among these planners, some used Hierarchical Planning -- most notably SHOP. Following the second IPC in 2000 the hand-tailored track was discontinued. Hierarchical planning was thereafter not part of the IPC any more. Research in the field however continued.&lt;/p&gt;\n\n&lt;p&gt;The International Planning Competition 2020 features for the first time a track dedicated to hierarchical planning. In contrast to the previous track on hand-tailored planners we don&#x27;t want to evaluate how good planners can become given any possible additional knowledge, but ask how well planners can exploit a given hierarchical refinement structure. We therefore faced several unique challenges. We had to establish a common input language for all planners such that all of them operate on the very same model. We also had to specify a plan-output format and provide a verifier, since we had to ensure that the found plans satisfy the decompositional structure of the given task hierarchy. Further, we had to gather a comprehensive set of benchmark domains, since no such set existed before. We hope that this first competition for Hierarchical Task Network planners will foster future research into hierarchical planning and provide a common basis for many researchers -- by establishing a unified input language, a common benchmark set, and an evaluation of the state of the art in HTN planning. We hope that many future editions of this competition will follow.&lt;/p&gt;\n\nGregor, Daniel, and Pascal&lt;br/&gt;\nOrganizers of the IPC 2020,&lt;br/&gt;\nMay 2021}\n}\n\n%% WIPC WORKSHOP\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  <p>Since its first edition in 1998, the International Planning Competition (IPC) has been an integral event of the planning community. For more than 20 years, it established unified input languages for planners, enabled an objective comparison between them based on an accessible benchmark set. The IPC drove the development of planners and fostered research. Thus, the IPC enabled planning researchers to compare their own work against the work of others – not only within the competition, but also outside of it. Due to the IPC almost all contemporary planners understand (some form of) PDDL, which allows for using IPC benchmarks across a multitude of planners.</p> <p>The first two IPCs had – in addition to the regular track – a track on hand-tailored planners in which the planners could be provided with additional information or select their algorithms based on the input domain. Among these planners, some used Hierarchical Planning – most notably SHOP. Following the second IPC in 2000 the hand-tailored track was discontinued. Hierarchical planning was thereafter not part of the IPC any more. Research in the field however continued.</p> <p>The International Planning Competition 2020 features for the first time a track dedicated to hierarchical planning. In contrast to the previous track on hand-tailored planners we don't want to evaluate how good planners can become given any possible additional knowledge, but ask how well planners can exploit a given hierarchical refinement structure. We therefore faced several unique challenges. We had to establish a common input language for all planners such that all of them operate on the very same model. We also had to specify a plan-output format and provide a verifier, since we had to ensure that the found plans satisfy the decompositional structure of the given task hierarchy. Further, we had to gather a comprehensive set of benchmark domains, since no such set existed before. We hope that this first competition for Hierarchical Task Network planners will foster future research into hierarchical planning and provide a common basis for many researchers – by establishing a unified input language, a common benchmark set, and an evaluation of the state of the art in HTN planning. We hope that many future editions of this competition will follow.</p> Gregor, Daniel, and Pascal<br/> Organizers of the IPC 2020,<br/> May 2021\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"behnke-hller-bercher-proceedingsoftheworkshopontheinternationalplanningcompetitionwipc2021-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/WIPC2021Proceedings.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'behnke-hller-bercher-proceedingsoftheworkshopontheinternationalplanningcompetitionwipc2021-2021', 'https://bercher.net/publications/2021/WIPC2021Proceedings.pdf', event);\">\n    Proceedings of the Workshop on the International Planning Competition (WIPC 2021).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Gregor Behnke;  Daniel Höller;  and  Pascal Bercher.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/WIPC2021Proceedings.pdf\"\n     onclick=\"log_download('behnke-hller-bercher-proceedingsoftheworkshopontheinternationalplanningcompetitionwipc2021-2021', 'https://bercher.net/publications/2021/WIPC2021Proceedings.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of the Workshop on the International Planning Competition (WIPC 2021) [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n  <a href=\"https://icaps21.icaps-conference.org/workshops/WIPC/\"\n     onclick=\"log_download('behnke-hller-bercher-proceedingsoftheworkshopontheinternationalplanningcompetitionwipc2021-2021', 'https://icaps21.icaps-conference.org/workshops/WIPC/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proceedings of the Workshop on the International Planning Competition (WIPC 2021) [link]\"\n       title=\" workshop\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> workshop</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/behnke-hller-bercher-proceedingsoftheworkshopontheinternationalplanningcompetitionwipc2021-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('behnke-hller-bercher-proceedingsoftheworkshopontheinternationalplanningcompetitionwipc2021-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@proceedings{WIPC2021Proceedings,\n  Title           = {Proceedings of the Workshop on the International Planning Competition (WIPC 2021)},\n  editor          = {Gregor Behnke and Daniel H{\\&quot;o}ller and Pascal Bercher},\n  Year            = {2021},\n  url_Proceedings = {https://bercher.net/publications/2021/WIPC2021Proceedings.pdf},\n  url_Workshop    = {https://icaps21.icaps-conference.org/workshops/WIPC/}\n}\n\n%% HPLAN WORKSHOP\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-kiam-xiao-alford-proceedingsofthe4thdicapsworkshoponhierarchicalplanninghplan2021-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-kiam-xiao-alford-proceedingsofthe4thdicapsworkshoponhierarchicalplanninghplan2021-2021', 'https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf', event);\">\n    Proceedings of the 4thd ICAPS Workshop on Hierarchical Planning (HPlan 2021).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Jane Jean Kiam;  Zhanhao Xiao;  and  Ron Alford.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf\"\n     onclick=\"log_download('bercher-kiam-xiao-alford-proceedingsofthe4thdicapsworkshoponhierarchicalplanninghplan2021-2021', 'https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of the 4thd ICAPS Workshop on Hierarchical Planning (HPlan 2021) [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n  <a href=\"http://hplan2021.hierarchical-task.net\"\n     onclick=\"log_download('bercher-kiam-xiao-alford-proceedingsofthe4thdicapsworkshoponhierarchicalplanninghplan2021-2021', 'http://hplan2021.hierarchical-task.net', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proceedings of the 4thd ICAPS Workshop on Hierarchical Planning (HPlan 2021) [link]\"\n       title=\" workshop\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> workshop</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-kiam-xiao-alford-proceedingsofthe4thdicapsworkshoponhierarchicalplanninghplan2021-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-kiam-xiao-alford-proceedingsofthe4thdicapsworkshoponhierarchicalplanninghplan2021-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@proceedings{HPlan2021proceedings,\n  Title           = {Proceedings of the 4thd ICAPS Workshop on Hierarchical Planning (HPlan 2021)},\n  editor          = {Pascal Bercher and Jane Jean Kiam and Zhanhao Xiao and Ron Alford},\n  Year            = {2021},\n  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2021.pdf},\n  url_Workshop    = {http://hplan2021.hierarchical-task.net}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schattenberg-bercher-thehierarchicalwoodworkingdomain-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'schattenberg-bercher-thehierarchicalwoodworkingdomain-2021', 'https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf', event);\">\n    The Hierarchical Woodworking Domain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Bernd Schattenberg;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020)</i>, pages 43–44,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf\"\n     onclick=\"log_download('schattenberg-bercher-thehierarchicalwoodworkingdomain-2021', 'https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Hierarchical Woodworking Domain [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schattenberg-bercher-thehierarchicalwoodworkingdomain-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schattenberg-bercher-thehierarchicalwoodworkingdomain-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{Schattenberg2021Woodworking,\n  title                    = {The Hierarchical Woodworking Domain},\n  author                   = {Bernd Schattenberg and Pascal Bercher},\n  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},\n  year                     = {2021},\n  pages                    = {43--44},\n  abstract                 = {The Woodworking domain is one of the classical benchmark domains in the canon of the International Planning Competition. This paper describes our hierarchical take on it.},\n  url_Paper                = {https://bercher.net/publications/2021/Schattenberg2021Woodworking.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The Woodworking domain is one of the classical benchmark domains in the canon of the International Planning Competition. This paper describes our hierarchical take on it.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-biundo-schattenberg-thesmartphonedomain-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Bercher2021Smartphone.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-biundo-schattenberg-thesmartphonedomain-2021', 'https://bercher.net/publications/2021/Bercher2021Smartphone.pdf', event);\">\n    The Smartphone Domain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Susanne Biundo;  and  Bernd Schattenberg.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020)</i>, pages 47–47,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Bercher2021Smartphone.pdf\"\n     onclick=\"log_download('bercher-biundo-schattenberg-thesmartphonedomain-2021', 'https://bercher.net/publications/2021/Bercher2021Smartphone.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Smartphone Domain [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-biundo-schattenberg-thesmartphonedomain-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-biundo-schattenberg-thesmartphonedomain-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{Bercher2021Smartphone,\n  title                    = {The Smartphone Domain},\n  author                   = {Pascal Bercher and Susanne Biundo and Bernd Schattenberg},\n  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},\n  year                     = {2021},\n  pages                    = {47--47},\n  abstract                 = {This extended abstract is about the Smartphone domain, submitted as a benchmark domain to the IPC 2020.},\n  url_Paper                = {https://bercher.net/publications/2021/Bercher2021Smartphone.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This extended abstract is about the Smartphone domain, submitted as a benchmark domain to the IPC 2020.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hller-lin-erol-bercher-frompcptohtnplanningthroughcfgs-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2021/Hoeller2021PCP.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hller-lin-erol-bercher-frompcptohtnplanningthroughcfgs-2021', 'https://bercher.net/publications/2021/Hoeller2021PCP.pdf', event);\">\n    From PCP to HTN Planning Through CFGs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Höller;  Songtuan Lin;  Kutluhan Erol;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of 10th International Planning Competition: Planner and Domain Abstracts – Hierarchical Task Network (HTN) Planning Track (IPC 2020)</i>, pages 24–25,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2021/Hoeller2021PCP.pdf\"\n     onclick=\"log_download('hller-lin-erol-bercher-frompcptohtnplanningthroughcfgs-2021', 'https://bercher.net/publications/2021/Hoeller2021PCP.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"From PCP to HTN Planning Through CFGs [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hller-lin-erol-bercher-frompcptohtnplanningthroughcfgs-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hller-lin-erol-bercher-frompcptohtnplanningthroughcfgs-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{Hoeller2021PCP,\n  title                    = {From PCP to HTN Planning Through CFGs},\n  author                   = {Daniel H\\&quot;oller and Songtuan Lin and Kutluhan Erol and Pascal Bercher},\n  booktitle                = {Proceedings of 10th {I}nternational {P}lanning {C}ompetition: Planner and Domain Abstracts -- Hierarchical Task Network (HTN) Planning Track (IPC 2020)},\n  year                     = {2021},\n  pages                    = {24--25},\n  abstract                 = {The International Planning Competition in 2020 was the first one for a long time to host tracks on HTN planning. The used benchmark set included a domain describing the undecidable Post Correspondence Problem (PCP). In this paper we describe the two-step process applied to generate HTN problems based on PCP instances. It translates the PCP into a grammar intersection problem of two context-free languages, which is then encoded into an HTN problem.},\n  url_Paper                = {https://bercher.net/publications/2021/Hoeller2021PCP.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The International Planning Competition in 2020 was the first one for a long time to host tracks on HTN planning. The used benchmark set included a domain describing the undecidable Post Correspondence Problem (PCP). In this paper we describe the two-step process applied to generate HTN problems based on PCP instances. It translates the PCP into a grammar intersection problem of two context-free languages, which is then encoded into an HTN problem.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2020\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2020')\"\n      onkeypress=\"toggleGroup('group_2020')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2020</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bercher-hller-bartk-alford-proceedingsofthe3rdicapsworkshoponhierarchicalplanninghplan2020-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-hller-bartk-alford-proceedingsofthe3rdicapsworkshoponhierarchicalplanninghplan2020-2020', 'https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf', event);\">\n    Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Daniel Höller;  Roman Barták;  and  Ron Alford.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf\"\n     onclick=\"log_download('bercher-hller-bartk-alford-proceedingsofthe3rdicapsworkshoponhierarchicalplanninghplan2020-2020', 'https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020) [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n  <a href=\"http://hplan2020.hierarchical-task.net\"\n     onclick=\"log_download('bercher-hller-bartk-alford-proceedingsofthe3rdicapsworkshoponhierarchicalplanninghplan2020-2020', 'http://hplan2020.hierarchical-task.net', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020) [link]\"\n       title=\" workshop\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> workshop</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-hller-bartk-alford-proceedingsofthe3rdicapsworkshoponhierarchicalplanninghplan2020-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-hller-bartk-alford-proceedingsofthe3rdicapsworkshoponhierarchicalplanninghplan2020-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@proceedings{HPlan2020proceedings,\n  Title           = {Proceedings of the 3rd ICAPS Workshop on Hierarchical Planning (HPlan 2020)},\n  editor          = {Pascal Bercher and Daniel H{\\&quot;o}ller and Roman Bart{\\&#x27;a}k and Ron Alford},\n  Year            = {2020},\n  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2020.pdf},\n  url_Workshop    = {http://hplan2020.hierarchical-task.net}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bercher-behnke-shivashankar-alford-proceedingsofthe2ndicapsworkshoponhierarchicalplanninghplan2019-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-behnke-shivashankar-alford-proceedingsofthe2ndicapsworkshoponhierarchicalplanninghplan2019-2019', 'https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf', event);\">\n    Proceedings of the 2nd ICAPS Workshop on Hierarchical Planning (HPlan 2019).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Gregor Behnke;  Vikas Shivashankar;  and  Ron Alford.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf\"\n     onclick=\"log_download('bercher-behnke-shivashankar-alford-proceedingsofthe2ndicapsworkshoponhierarchicalplanninghplan2019-2019', 'https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of the 2nd ICAPS Workshop on Hierarchical Planning (HPlan 2019) [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n  <a href=\"http://hplan2019.hierarchical-task.net\"\n     onclick=\"log_download('bercher-behnke-shivashankar-alford-proceedingsofthe2ndicapsworkshoponhierarchicalplanninghplan2019-2019', 'http://hplan2019.hierarchical-task.net', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proceedings of the 2nd ICAPS Workshop on Hierarchical Planning (HPlan 2019) [link]\"\n       title=\" workshop\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> workshop</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-behnke-shivashankar-alford-proceedingsofthe2ndicapsworkshoponhierarchicalplanninghplan2019-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-behnke-shivashankar-alford-proceedingsofthe2ndicapsworkshoponhierarchicalplanninghplan2019-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@proceedings{HPlan2019proceedings,\n  Title           = {Proceedings of the 2nd ICAPS Workshop on Hierarchical Planning (HPlan 2019)},\n  editor          = {Pascal Bercher and Gregor Behnke and Vikas Shivashankar and Ron Alford},\n  Year            = {2019},\n  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2019.pdf},\n  url_Workshop    = {http://hplan2019.hierarchical-task.net}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bercher-hller-biundo-alford-proceedingsofthe1sticapsworkshoponhierarchicalplanninghplan2018-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-hller-biundo-alford-proceedingsofthe1sticapsworkshoponhierarchicalplanninghplan2018-2018', 'https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf', event);\">\n    Proceedings of the 1st ICAPS Workshop on Hierarchical Planning (HPlan 2018).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Daniel Höller;  Susanne Biundo;  and  Ron Alford.,\n  editors.\n  \n</span>\n\n  \n\n</span>\n\n   2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf\"\n     onclick=\"log_download('bercher-hller-biundo-alford-proceedingsofthe1sticapsworkshoponhierarchicalplanninghplan2018-2018', 'https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proceedings of the 1st ICAPS Workshop on Hierarchical Planning (HPlan 2018) [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n  <a href=\"http://hplan2018.hierarchical-task.net\"\n     onclick=\"log_download('bercher-hller-biundo-alford-proceedingsofthe1sticapsworkshoponhierarchicalplanninghplan2018-2018', 'http://hplan2018.hierarchical-task.net', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proceedings of the 1st ICAPS Workshop on Hierarchical Planning (HPlan 2018) [link]\"\n       title=\" workshop\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> workshop</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-hller-biundo-alford-proceedingsofthe1sticapsworkshoponhierarchicalplanninghplan2018-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-hller-biundo-alford-proceedingsofthe1sticapsworkshoponhierarchicalplanninghplan2018-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@proceedings{HPlan2018proceedings,\n  Title           = {Proceedings of the 1st ICAPS Workshop on Hierarchical Planning (HPlan 2018)},\n  editor          = {Pascal Bercher and Daniel H{\\&quot;o}ller and Susanne Biundo and Ron Alford},\n  Year            = {2018},\n  url_Proceedings = {https://hierarchical-task.net/publications/hplan/HPlanProceedings-2018.pdf},\n  url_Workshop    = {http://hplan2018.hierarchical-task.net}\n}\n\n\n\n% NORMAL PAPERS (of various kind)\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-richter-honold-nielsen-schssel-geier-hrnle-reuter-etal-acompanionsystemarchitectureforrealizingindividualizedandsituationadaptiveuserassistance-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-richter-honold-nielsen-schssel-geier-hrnle-reuter-etal-acompanionsystemarchitectureforrealizingindividualizedandsituationadaptiveuserassistance-2018', 'https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf', event);\">\n    A Companion-System Architecture for Realizing Individualized and Situation-Adaptive User Assistance.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  Felix Richter;  Frank Honold;  Florian Nielsen;  Felix Schüssel;  Thomas Geier;  Thilo Hörnle;  Stephan Reuter;  Daniel Höller;  Gregor Behnke;  Klaus Dietmayer;  Wolfgang Minker;  Michael Weber;  and  Susanne Biundo.\n</span>\n\n  \n\n</span>\n\n  Technical Report Ulm University,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf\"\n     onclick=\"log_download('bercher-richter-honold-nielsen-schssel-geier-hrnle-reuter-etal-acompanionsystemarchitectureforrealizingindividualizedandsituationadaptiveuserassistance-2018', 'https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Companion-System Architecture for Realizing Individualized and Situation-Adaptive User Assistance [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.18725/OPARU-11023\"\n     onclick=\"log_download('bercher-richter-honold-nielsen-schssel-geier-hrnle-reuter-etal-acompanionsystemarchitectureforrealizingindividualizedandsituationadaptiveuserassistance-2018', 'http://doi.org/10.18725/OPARU-11023', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-richter-honold-nielsen-schssel-geier-hrnle-reuter-etal-acompanionsystemarchitectureforrealizingindividualizedandsituationadaptiveuserassistance-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-richter-honold-nielsen-schssel-geier-hrnle-reuter-etal-acompanionsystemarchitectureforrealizingindividualizedandsituationadaptiveuserassistance-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@TechReport{Bercher2018AssemblyAssistant,\n  author                   = {Pascal Bercher and Felix Richter and Frank Honold and Florian Nielsen and Felix Schüssel and Thomas Geier and Thilo Hörnle and Stephan Reuter and Daniel H{\\&quot;o}ller and Gregor Behnke and Klaus Dietmayer and Wolfgang Minker and Michael Weber and Susanne Biundo},\n  title                    = {A Companion-System Architecture for Realizing Individualized and Situation-Adaptive User Assistance},\n  institution              = {Ulm University},\n  year                     = {2018},\n  doi                      = {10.18725/OPARU-11023},\n  pages                    = {1--48},\n  abstract                 = {We show how techniques from various research areas -- most notably hierarchical planning, dialog management, and interaction management -- can be employed to realize individualized and situation-adaptive user assistance. We introduce a modular system architecture that is composed of domain-independent components implementing techniques from the respective areas. Systems based on this architecture -- so-called \\emph{Companion}-Systems -- can provide intelligent assistance in a broad variety of tasks. They provide a user- and situation-adapted sequence of instructions that show how achieve the respective task. Additional explanations are, like the instructions themselves, automatically derived based on a declarative model of the current task. These systems can react to unforeseen execution failures repairing their underlying plans if required. We introduce a prototype system that assists with setting up a home theater and use it as a running example as well as for an empirical evaluation with test subjects that shows the usefulness of our approach. We summarize the work of more than half a decade of research and development done by various research groups from different disciplines. Here, for the first time, we explain the full integration of all components thereby showing &#x60;&#x60;the complete picture&#x27;&#x27; of our approach to provide individualized and situation-adaptive user assistance.},\n  url_Paper                = {https://bercher.net/publications/2018/Bercher2018AssemblyAssistant.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We show how techniques from various research areas – most notably hierarchical planning, dialog management, and interaction management – can be employed to realize individualized and situation-adaptive user assistance. We introduce a modular system architecture that is composed of domain-independent components implementing techniques from the respective areas. Systems based on this architecture – so-called \\emphCompanion-Systems – can provide intelligent assistance in a broad variety of tasks. They provide a user- and situation-adapted sequence of instructions that show how achieve the respective task. Additional explanations are, like the instructions themselves, automatically derived based on a declarative model of the current task. These systems can react to unforeseen execution failures repairing their underlying plans if required. We introduce a prototype system that assists with setting up a home theater and use it as a running example as well as for an empirical evaluation with test subjects that shows the usefulness of our approach. We summarize the work of more than half a decade of research and development done by various research groups from different disciplines. Here, for the first time, we explain the full integration of all components thereby showing ``the complete picture'' of our approach to provide individualized and situation-adaptive user assistance.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-hybridesplanenvondertheoriezurpraxis-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-hybridesplanenvondertheoriezurpraxis-2018', 'https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf', event);\">\n    Hybrides Planen — Von der Theorie zur Praxis.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Ausgezeichnete Informatikdissertationen 2017</i>, pages 21–30,  2018. Gesellschaft für Informatik\n  <span class=\"note\">This dissertation abstract (in German) was written as part of being nominated for the GI (Gesellschaft für Informatik, eng.: Society for Computer Science) Best Dissertation Award 2017.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf\"\n     onclick=\"log_download('bercher-hybridesplanenvondertheoriezurpraxis-2018', 'https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrides Planen — Von der Theorie zur Praxis [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2018/Bercher2018DissertationAbstractSlides.pdf\"\n     onclick=\"log_download('bercher-hybridesplanenvondertheoriezurpraxis-2018', 'https://bercher.net/publications/2018/Bercher2018DissertationAbstractSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrides Planen — Von der Theorie zur Praxis [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n  <a href=\"https://dl.gi.de/bitstream/handle/20.500.12116/19479/lni-d-18-komplet.pdf\"\n     onclick=\"log_download('bercher-hybridesplanenvondertheoriezurpraxis-2018', 'https://dl.gi.de/bitstream/handle/20.500.12116/19479/lni-d-18-komplet.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrides Planen — Von der Theorie zur Praxis [pdf]\"\n       title=\" proceedings\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> proceedings</span></a>\n  &nbsp;\n  \n  <a href=\"https://dl.gi.de/handle/20.500.12116/19456\"\n     onclick=\"log_download('bercher-hybridesplanenvondertheoriezurpraxis-2018', 'https://dl.gi.de/handle/20.500.12116/19456', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Hybrides Planen — Von der Theorie zur Praxis [link]\"\n       title=\" papers-of-nominated-theses\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> papers-of-nominated-theses</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-hybridesplanenvondertheoriezurpraxis-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-hybridesplanenvondertheoriezurpraxis-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Bercher2018DissertationAbstract,\n  Title                    = {Hybrides Planen --- Von der Theorie zur Praxis},\n  Author                   = {Pascal Bercher},\n  Booktitle                = {Ausgezeichnete Informatikdissertationen 2017},\n  Year                     = {2018},\n  pages                    = {21--30},\n  Publisher                = {Gesellschaft für Informatik},\n  abstract                 = {Die Dissertation legt Grundlagen, die es erlauben, Planungstechnologie der Künstlichen Intelligenz als Basis für flexible Assistenzsysteme einzusetzen. Die Aufgabe der automatischen Handlungsplanung ist es hierbei, selbständig einen Plan zu entwickeln, der dem Nutzer Schritt für Schritt präsentiert wird und ihn oder sie bei der Bearbeitung einer entsprechenden Aufgabe anleitet. Durch die starke Miteinbeziehung eines menschlichen Nutzers ergeben sich viele neue Herausforde- rungen: Pläne müssen schnell gefunden werden; und sie sollen nicht nur korrekt sein, sondern auch kostengünstig und dem Nutzer plausibel erscheinen; und sie sollen erklärbar sein, um Transparenz zu schaffen. Aus diesem Grund wurde das hybride Planen gewählt, ein hierarchischer, nicht-linearer Planungsansatz. Es wurden neue Komplexitätsergebnisse für das Planexistenz- und das Planverifikationsproblem erzielt; die ersten zulässigen Heuristiken erforscht, welche das Finden optimaler Pläne garantieren; und es wurde ein prototypisches Assistenzsystem realisiert, das seinen Nutzer bei dem Aufbau einer komplexen Heimkinoanlage unterstützt.},\n  note                     = {This dissertation abstract (in German) was written as part of being nominated for the GI (Gesellschaft für Informatik, eng.: Society for Computer Science) Best Dissertation Award 2017.},\n  url_Paper                = {https://bercher.net/publications/2018/Bercher2018DissertationAbstract.pdf},\n  url_Slides               = {https://bercher.net/publications/2018/Bercher2018DissertationAbstractSlides.pdf},\n  url_Proceedings          = {https://dl.gi.de/bitstream/handle/20.500.12116/19479/lni-d-18-komplet.pdf},\n  url_Papers-of-Nominated-Theses = {https://dl.gi.de/handle/20.500.12116/19456}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Die Dissertation legt Grundlagen, die es erlauben, Planungstechnologie der Künstlichen Intelligenz als Basis für flexible Assistenzsysteme einzusetzen. Die Aufgabe der automatischen Handlungsplanung ist es hierbei, selbständig einen Plan zu entwickeln, der dem Nutzer Schritt für Schritt präsentiert wird und ihn oder sie bei der Bearbeitung einer entsprechenden Aufgabe anleitet. Durch die starke Miteinbeziehung eines menschlichen Nutzers ergeben sich viele neue Herausforde- rungen: Pläne müssen schnell gefunden werden; und sie sollen nicht nur korrekt sein, sondern auch kostengünstig und dem Nutzer plausibel erscheinen; und sie sollen erklärbar sein, um Transparenz zu schaffen. Aus diesem Grund wurde das hybride Planen gewählt, ein hierarchischer, nicht-linearer Planungsansatz. Es wurden neue Komplexitätsergebnisse für das Planexistenz- und das Planverifikationsproblem erzielt; die ersten zulässigen Heuristiken erforscht, welche das Finden optimaler Pläne garantieren; und es wurde ein prototypisches Assistenzsystem realisiert, das seinen Nutzer bei dem Aufbau einer komplexen Heimkinoanlage unterstützt.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bercher-hybridplanningfromtheorytopractice-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2017/Bercher2017Dissertation.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-hybridplanningfromtheorytopractice-2018', 'https://bercher.net/publications/2017/Bercher2017Dissertation.pdf', event);\">\n    Hybrid Planning — From Theory to Practice.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Ulm University,  2018.\n  <span class=\"note\">This work won the ICAPS Best Dissertation Award 2019.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2017/Bercher2017Dissertation.pdf\"\n     onclick=\"log_download('bercher-hybridplanningfromtheorytopractice-2018', 'https://bercher.net/publications/2017/Bercher2017Dissertation.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Planning — From Theory to Practice [pdf]\"\n       title=\" dissertation\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> dissertation</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2017/Bercher2019ICAPSDissertationTalk.pdf\"\n     onclick=\"log_download('bercher-hybridplanningfromtheorytopractice-2018', 'https://bercher.net/publications/2017/Bercher2019ICAPSDissertationTalk.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Planning — From Theory to Practice [pdf]\"\n       title=\" slides-from-icaps-award\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides-from-icaps-award</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.18725/OPARU-5242\"\n     onclick=\"log_download('bercher-hybridplanningfromtheorytopractice-2018', 'http://doi.org/10.18725/OPARU-5242', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-hybridplanningfromtheorytopractice-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-hybridplanningfromtheorytopractice-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@PhdThesis{Bercher2017PhDThesis,\n  Title                    = {Hybrid Planning --- From Theory to Practice},\n  Author                   = {Pascal Bercher},\n  School                   = {Ulm University},\n  Year                     = {2018},\n  doi                      = {10.18725/OPARU-5242},\n  abstract                 = {This work lays fundamental groundwork for the development of so-called Companion Systems - cognitive technical systems that are capable to reason about themselves, their users and environment, and to plan a course of action to achieve their users&#x27; goals. They are intelligent devices that assist their users in operating them: instead of the user having to learn how to operate the respective system, the system is intelligent and flexible enough to provide its functionality in a truly user-friendly way. \n\nTo fully meet a user&#x27;s demands, Companion Systems rely on a multi-facet of capabilities that stem from different disciplines, such as Artificial Intelligence (AI) planning, knowledge representation and reasoning, dialog management, and user interaction management, to name just a few. This thesis focuses on the relevant aspects of AI planning technology that are of importance for such systems. AI planning is the central technology for many Companion Systems as it allows to compute a course of action that, if followed by its user, achieves his or her goals and therefore serves as a basis of providing advanced user assistance. This thesis is concerned with hybrid planning - a hierarchical planning formalism that is especially suited for the basis of providing assistance to human users. Based on this formalism we will investigate the full endeavor of developing Companion Systems - from theory to practice. \n\nThe thesis presents a novel formalization for hierarchical planning problems, which has become a standard in the field. We present a categorization of different problem classes into which hybrid planning as well as other well-known problem classes fall. This formalization allowed to prove a series of novel complexity results that are of interest both for theoretical and practical considerations. For many of the identified classes we introduce novel heuristics that are used to speed up the solution generation process. Some of them are the very first for the respective problem class, and some are the first admissible ones, thereby allowing to find optimal solutions -- which is especially important when plans are generated for human users. We apply hybrid planning in a prototypical Companion System. It assists a user in the task of setting up a complex home entertainment system. Based on a declarative (planning) model of the available hardware and its functionality, the assistant computes a sequence of actions that the user simply needs to follow to complete the setup task. Several so-called user-centered planning capabilities are applied in this system, such as a technique for generating user-friendly linearizations of non-linear plans or the capability to answer questions about the necessity of actions - an essential property to ensure transparency of the system&#x27;s behavior. In conclusion: Most modern technical devices are still lacking true intelligence - since no research such as AI planning is sufficiently applied, so there is still huge potential in making such devices really smart by implementing them as cognitive systems that effectively assist their human users. Applying the research presented in this thesis is one step towards achieving this goal.},\n  note                        = {This work won the ICAPS Best Dissertation Award 2019.},\n  url_Dissertation            = {https://bercher.net/publications/2017/Bercher2017Dissertation.pdf},\n  url_Slides-from-ICAPS-Award = {https://bercher.net/publications/2017/Bercher2019ICAPSDissertationTalk.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This work lays fundamental groundwork for the development of so-called Companion Systems - cognitive technical systems that are capable to reason about themselves, their users and environment, and to plan a course of action to achieve their users' goals. They are intelligent devices that assist their users in operating them: instead of the user having to learn how to operate the respective system, the system is intelligent and flexible enough to provide its functionality in a truly user-friendly way. To fully meet a user's demands, Companion Systems rely on a multi-facet of capabilities that stem from different disciplines, such as Artificial Intelligence (AI) planning, knowledge representation and reasoning, dialog management, and user interaction management, to name just a few. This thesis focuses on the relevant aspects of AI planning technology that are of importance for such systems. AI planning is the central technology for many Companion Systems as it allows to compute a course of action that, if followed by its user, achieves his or her goals and therefore serves as a basis of providing advanced user assistance. This thesis is concerned with hybrid planning - a hierarchical planning formalism that is especially suited for the basis of providing assistance to human users. Based on this formalism we will investigate the full endeavor of developing Companion Systems - from theory to practice. The thesis presents a novel formalization for hierarchical planning problems, which has become a standard in the field. We present a categorization of different problem classes into which hybrid planning as well as other well-known problem classes fall. This formalization allowed to prove a series of novel complexity results that are of interest both for theoretical and practical considerations. For many of the identified classes we introduce novel heuristics that are used to speed up the solution generation process. Some of them are the very first for the respective problem class, and some are the first admissible ones, thereby allowing to find optimal solutions – which is especially important when plans are generated for human users. We apply hybrid planning in a prototypical Companion System. It assists a user in the task of setting up a complex home entertainment system. Based on a declarative (planning) model of the available hardware and its functionality, the assistant computes a sequence of actions that the user simply needs to follow to complete the setup task. Several so-called user-centered planning capabilities are applied in this system, such as a technique for generating user-friendly linearizations of non-linear plans or the capability to answer questions about the necessity of actions - an essential property to ensure transparency of the system's behavior. In conclusion: Most modern technical devices are still lacking true intelligence - since no research such as AI planning is sufficiently applied, so there is still huge potential in making such devices really smart by implementing them as cognitive systems that effectively assist their human users. Applying the research presented in this thesis is one step towards achieving this goal.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2016\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2016')\"\n      onkeypress=\"toggleGroup('group_2016')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2016</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bercher-hller-interviewwithdavidesmith-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-hller-interviewwithdavidesmith-2016', 'https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf', event);\">\n    Interview with David E. Smith.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  and  Daniel Höller.\n</span>\n\n  \n\n</span>\n\n  <i>Künstliche Intelligenz</i>, 30(1): 101–105.  2016.\n  <span class=\"note\">Special Issue on Companion Technologies</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf\"\n     onclick=\"log_download('bercher-hller-interviewwithdavidesmith-2016', 'https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Interview with David E. Smith [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1007/s13218-015-0403-y\"\n     onclick=\"log_download('bercher-hller-interviewwithdavidesmith-2016', 'http://doi.org/10.1007/s13218-015-0403-y', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-hller-interviewwithdavidesmith-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-hller-interviewwithdavidesmith-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Article{Bercher2016SmithInterview,\n  Title                    = {Interview with {David E. Smith}},\n  Author                   = {Pascal Bercher and Daniel H\\&quot;oller},\n  Journal                  = {K{\\&quot;u}nstliche Intelligenz},\n  Year                     = {2016},\n  Note                     = {Special Issue on Companion Technologies},\n  Number                   = {1},\n  Pages                    = {101--105},\n  Volume                   = {30},\n  Doi                      = {10.1007/s13218-015-0403-y},\n  abstract                 = {David E. Smith is a senior Researcher in the Intelligent Systems Division at NASA Ames Research Center. He received his Ph.D. in 1985 from Stanford University, and spent time as a Research Associate at Stanford, a Scientist at the Rockwell Palo Alto Science Center, and a Visiting Scholar at the University of Washington before joining NASA in 1997. Beginning in 1999, he served as the lead of the 18 member planning and scheduling group at NASA Ames for 6 years before abdicating to devote more time to research. Much of his research has focused on pushing the boundaries of AI planning technology to handle richer models of time, concurrency, exogenous events, uncertainty, and oversubscription. Smith served as an Associate Editor for the Journal of Artificial Intelligence Research (JAIR) from 2001–2004, and as Guest Editor for the JAIR Special Issue and Special Track on the 3rd and 4th International Planning Competitions. He served on the JAIR Advisory Board 2004–2007. Smith was recognized as a AAAI Fellow in 2005, and served on the AAAI Executive Council 2007–2010.},\n  url_Paper                = {https://bercher.net/publications/2016/Bercher2016SmithInterview.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  David E. Smith is a senior Researcher in the Intelligent Systems Division at NASA Ames Research Center. He received his Ph.D. in 1985 from Stanford University, and spent time as a Research Associate at Stanford, a Scientist at the Rockwell Palo Alto Science Center, and a Visiting Scholar at the University of Washington before joining NASA in 1997. Beginning in 1999, he served as the lead of the 18 member planning and scheduling group at NASA Ames for 6 years before abdicating to devote more time to research. Much of his research has focused on pushing the boundaries of AI planning technology to handle richer models of time, concurrency, exogenous events, uncertainty, and oversubscription. Smith served as an Associate Editor for the Journal of Artificial Intelligence Research (JAIR) from 2001–2004, and as Guest Editor for the JAIR Special Issue and Special Track on the 3rd and 4th International Planning Competitions. He served on the JAIR Advisory Board 2004–2007. Smith was recognized as a AAAI Fellow in 2005, and served on the AAAI Executive Council 2007–2010.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"biundo-hller-bercher-specialissueoncompaniontechnologies-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2016/Biundo2016Editorial.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'biundo-hller-bercher-specialissueoncompaniontechnologies-2016', 'https://bercher.net/publications/2016/Biundo2016Editorial.pdf', event);\">\n    Special Issue on Companion Technologies.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Susanne Biundo;  Daniel Höller;  and  Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  <i>Künstliche Intelligenz</i>, 30(1): 5–9.  2016.\n  <span class=\"note\">This is the editorial of our Special Issue on Companion Technologies, in which we were the guest editors</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2016/Biundo2016Editorial.pdf\"\n     onclick=\"log_download('biundo-hller-bercher-specialissueoncompaniontechnologies-2016', 'https://bercher.net/publications/2016/Biundo2016Editorial.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Special Issue on Companion Technologies [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1007/s13218-015-0421-9\"\n     onclick=\"log_download('biundo-hller-bercher-specialissueoncompaniontechnologies-2016', 'http://doi.org/10.1007/s13218-015-0421-9', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/biundo-hller-bercher-specialissueoncompaniontechnologies-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('biundo-hller-bercher-specialissueoncompaniontechnologies-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Article{Biundo2016Editorial,\n  Title                    = {Special Issue on Companion Technologies},\n  Author                   = {Susanne Biundo and Daniel H\\&quot;oller and Pascal Bercher},\n  Journal                  = {K{\\&quot;u}nstliche Intelligenz},\n  Year                     = {2016},\n  Note                     = {This is the editorial of our Special Issue on Companion Technologies, in which we were the guest editors},\n  Number                   = {1},\n  Pages                    = {5--9},\n  Volume                   = {30},\n  Doi                      = {10.1007/s13218-015-0421-9},\n  abstract                 = {Dear reader, at present, we observe a rapid growth in the development of increasingly complex &#x60;&#x60;intelligent systems&#x27;&#x27; that serve users throughout all areas of their daily lives. They range from classical technical systems such as household appliances, cars, or consumer electronics through mobile apps and services to advanced service robots in various fields of application. While many of the rather conventional systems already provide multiple modalities to interact with, the most advanced are even equipped with cognitive abilities such as perception, cognition, and reasoning. However, the use of such complex technical systems and in particular the actual exploitation of their rich functionality remain challenging and quite often lead to users&#x27; cognitive overload and frustration. Companion Technologies bridge the gap between the extensive functionality of technical systems and human users&#x27; individual requirements and needs. They enable the construction of really smart -- adaptive, flexible, and cooperative -- technical systems by applying and fusing techniques from different areas of research. In our special issue we present interesting pieces of work -- quite a number of new technical contributions, ongoing and completed research projects, several dissertation abstracts, as well as an interview -- that are related to, or even fundamental for, Companion-Technology. In the community part of this issue, there is also a conference report on the first International Symposium on Companion-Technology},\n  url_Paper                = {https://bercher.net/publications/2016/Biundo2016Editorial.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Dear reader, at present, we observe a rapid growth in the development of increasingly complex ``intelligent systems'' that serve users throughout all areas of their daily lives. They range from classical technical systems such as household appliances, cars, or consumer electronics through mobile apps and services to advanced service robots in various fields of application. While many of the rather conventional systems already provide multiple modalities to interact with, the most advanced are even equipped with cognitive abilities such as perception, cognition, and reasoning. However, the use of such complex technical systems and in particular the actual exploitation of their rich functionality remain challenging and quite often lead to users' cognitive overload and frustration. Companion Technologies bridge the gap between the extensive functionality of technical systems and human users' individual requirements and needs. They enable the construction of really smart – adaptive, flexible, and cooperative – technical systems by applying and fusing techniques from different areas of research. In our special issue we present interesting pieces of work – quite a number of new technical contributions, ongoing and completed research projects, several dissertation abstracts, as well as an interview – that are related to, or even fundamental for, Companion-Technology. In the community part of this issue, there is also a conference report on the first International Symposium on Companion-Technology\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2015\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2015')\"\n      onkeypress=\"toggleGroup('group_2015')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2015</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bercher-hybridplanningtheoreticalfoundationsandpracticalapplications-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-hybridplanningtheoreticalfoundationsandpracticalapplications-2015', 'https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf', event);\">\n    Hybrid Planning – Theoretical Foundations and Practical Applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher.\n</span>\n\n  \n\n</span>\n\n  In <i>Doctoral Consortium at ICAPS 2015 (ICAPS DC 2015)</i>,  2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf\"\n     onclick=\"log_download('bercher-hybridplanningtheoreticalfoundationsandpracticalapplications-2015', 'https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Planning – Theoretical Foundations and Practical Applications [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCSlides.pdf\"\n     onclick=\"log_download('bercher-hybridplanningtheoreticalfoundationsandpracticalapplications-2015', 'https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCSlides.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Planning – Theoretical Foundations and Practical Applications [pdf]\"\n       title=\" slides\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> slides</span></a>\n  &nbsp;\n  \n  <a href=\"https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCPoster.pdf\"\n     onclick=\"log_download('bercher-hybridplanningtheoreticalfoundationsandpracticalapplications-2015', 'https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCPoster.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Planning – Theoretical Foundations and Practical Applications [pdf]\"\n       title=\" poster\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> poster</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-hybridplanningtheoreticalfoundationsandpracticalapplications-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-hybridplanningtheoreticalfoundationsandpracticalapplications-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{Bercher2015DissertationAbstractDC,\n  Title                    = {Hybrid Planning -- Theoretical Foundations and Practical Applications},\n  Author                   = {Pascal Bercher},\n  Booktitle                = {Doctoral Consortium at ICAPS 2015 (ICAPS DC 2015)},\n  Year                     = {2015},\n  abstract                 = {The thesis presents a novel set-theoretic formalization of (propositional) hybrid planning -- a planning framework that fuses Hierarchical Task Network (HTN) planning with Partial-Order Causal-Link (POCL) planning. Several sub classes thereof are identified that capture well-known problems such as HTN planning and POCL planning. For these problem classes, the complexity of the plan-existence problem is investigated, i.e., the problem of deciding whether there exists a solution for a given planning problem. For solving the problems of the respective problem classes, a hybrid planning algorithm is presented. Its search is guided by informed heuristics. Several such heuristics are introduced, both for POCL planning problems (i.e., problems without task hierarchy) and for hybrid planning problems (i.e., heuristics that are &#x27;&#x27;hierarchy-aware&#x27;&#x27;).},\n  url_Paper                = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDC.pdf},\n  url_Slides               = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCSlides.pdf},\n  url_Poster               = {https://bercher.net/publications/2015/Bercher2015DissertationAbstractDCPoster.pdf}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The thesis presents a novel set-theoretic formalization of (propositional) hybrid planning – a planning framework that fuses Hierarchical Task Network (HTN) planning with Partial-Order Causal-Link (POCL) planning. Several sub classes thereof are identified that capture well-known problems such as HTN planning and POCL planning. For these problem classes, the complexity of the plan-existence problem is investigated, i.e., the problem of deciding whether there exists a solution for a given planning problem. For solving the problems of the respective problem classes, a hybrid planning algorithm is presented. Its search is guided by informed heuristics. Several such heuristics are introduced, both for POCL planning problems (i.e., problems without task hierarchy) and for hybrid planning problems (i.e., heuristics that are ''hierarchy-aware'').\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2008\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2008')\"\n      onkeypress=\"toggleGroup('group_2008')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2008</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bercher-mattmller-aplanninggraphheuristicforforwardchainingadversarialplanning-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bercher-mattmller-aplanninggraphheuristicforforwardchainingadversarialplanning-2008', 'https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf', event);\">\n    A Planning Graph Heuristic for Forward-Chaining Adversarial Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Pascal Bercher;  and  Robert Mattmüller.\n</span>\n\n  \n\n</span>\n\n  Technical Report 238, University of Freiburg, Germany, 7 2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf\"\n     onclick=\"log_download('bercher-mattmller-aplanninggraphheuristicforforwardchainingadversarialplanning-2008', 'https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Planning Graph Heuristic for Forward-Chaining Adversarial Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bercher-mattmller-aplanninggraphheuristicforforwardchainingadversarialplanning-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bercher-mattmller-aplanninggraphheuristicforforwardchainingadversarialplanning-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@techreport{Bercher2008FONDPGHeuristicTR,\n  author                      = {Pascal Bercher and Robert Mattm{\\&quot;u}ller},\n  title                       = {A Planning Graph Heuristic for Forward-Chaining Adversarial Planning},\n  institution                 = {University of Freiburg, Germany},\n  year                        = {2008},\n  number                      = {238},\n  month                       = {7},\n  abstract                    = {In contrast to classical planning, in adversarial planning, the planning agent has to face an adversary trying to prevent him from reaching his goals. In this report, we investigate a forward-chaining approach to adversarial planning based on the AO* algorithm. The exploration of the underlying AND/OR graph is guided by a heuristic evaluation function, inspired by the relaxed planning graph heuristic used in the FF planner. Unlike FF, our heuristic uses an adversarial planning graph with distinct proposition and action layers for the protagonist and antagonist. First results suggest that in certain planning domains, our approach yields results competitive with the state of the art.},\n  url_Paper                  = {https://bercher.net/publications/2008/Bercher2008FONDPGHeuristicTR.pdf}\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In contrast to classical planning, in adversarial planning, the planning agent has to face an adversary trying to prevent him from reaching his goals. In this report, we investigate a forward-chaining approach to adversarial planning based on the AO* algorithm. The exploration of the underlying AND/OR graph is guided by a heuristic evaluation function, inspired by the relaxed planning graph heuristic used in the FF planner. Unlike FF, our heuristic uses an adversarial planning graph with distinct proposition and action layers for the protagonist and antagonist. First results suggest that in certain planning domains, our approach yields results competitive with the state of the art.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);