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.

翻译：层次任务网络（HTN）形式化方法被广泛应用于将各类规划问题表达为任务分解形式，目前已提出多种求解技术。然而，针对时间性HTN的研究却相对有限。这在一定程度上源于缺乏对时间层次规划问题的形式化共识定义，以及在此背景下开发启发式方法的固有困难。针对上述问题，本文提出一种新颖的通用POCL（偏序因果链接）方法，通过利用现有面向非时间问题的启发式技术来表征并求解时间性HTN问题。实验结果表明，该方法具有显著性能优势，能够超越现有解决方案。