On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm
2023
Abstract
n this paper, we consider the plan verification problem for totally ordered (TO) HTN planning. The problem is proved to be solvable in polynomial time by recognizing its connection to the membership decision problem for context-free grammars.
The current state-of-the-art TO plan verifier solves the problem by a blind search approach in order to deal with some state constraints and henceforth results in several overheads. However, many existing TOHTN planning benchmarks do not have these constraints.
Hence, we ignore them in the paper and develop a TOHTN plan verification approach which avoids those overheads in the state-of-the-art TO verifier via extending the CYK algorithm.