On Guiding Search in HTN Temporal Planning with non Temporal Heuristics

The Hierarchical Task Network (HTN) formalism is used to express a wide variety of planning problems as task decompositions, and many techniques have been proposed to solve them. However, few works have been done on temporal HTN. This is partly due to the lack of a formal and consensual definition of what a temporal hierarchical planning problem is as well as the difficulty to develop heuristics in this context. In response to these inconveniences, we propose in this paper a new general POCL (Partial Order Causal Link) approach to represent and solve a temporal HTN problem by using existing heuristics developed to solve non temporal problems. We show experimentally that this approach is performant and can outperform the existing ones.