Towards Combining HTN Planning and Geometric Task Planning

Understand

In this paper we present an interface between a symbolic planner and a geometric task planner, which is different to a standard trajectory planner in that the former is able to perform geometric reasoning on abstract entities---tasks.

• We believe that this approach facilitates a more principled interface to symbolic planning, while also leaving more room for the geometric planner to make independent decisions.
• We show how the two planners could be interfaced, and how their planning and backtracking could be interleaved.
• We also provide insights for a methodology for using the combined system, and experimental results to use as a benchmark with future extensions to both the combined system, as well as to the geometric task planner.