HTN planning @ Pascal Bercher ANU
Overview of what is hierarchical planning 1. Daniel Hoeller’s dissertation https://oparu.uni-ulm.de/items/a6c64b47-76e7-4532-8179-3e215a9eac9c It has a summary of what is hierarchical planning comment: a $t$ is a task id that can either refer to a $c \in C$ or an $a \in A$, but a method decompose $c$ only. Ok I see, the point, the whole thing trys to allow the set to have duplicate (? why not just claim that you have a multiset) ...