Abstrakt
Verifying HTN plans is an intractable problem with two exist- ing approaches to solve the problem. One technique is based on compilation to SAT.
Another method is using parsing, and it is currently the fastest technique for verifying HTN plans. In this paper, we propose an extension of the parsing- based approach to verify totally-ordered HTN plans more ef- ficiently.
This problem is known to be tractable if no state constraints are included, and we show theoretically and em- pirically that the modified parsing approach achieves bet- ter performance than the currently fastest HTN plan verifier when applied to totally-ordered HTN plans.