Hierarchical Task Network

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SBR implements planning similarly to Hierarchical Task Networks, and using a spatial planning language. HTNs' task decomposition provides high expressivity while being training-friendly and showing polynomial time complexity for relevant problem classes (Ghallab, Nau, Traverso 2004). SBR shares similarities with the "Jonny Jackanapes" architecture (Hartanto, Hertzberg 2011), which "fuses" HTN planning with Description Logics.