Encoding HTN Planning as a Dynamic CSP
Constraint satisfaction methodology has proven to be a successful technique for solving variety of combinatorial and optimization problems. Despite this fact, it was exploited very little in the planning domain. In particular hierarchical task network planning (HTN)  seems to be suitable for use of constraint programming. The formulation of HTN planning problem involves a lot of structural information which can be used to prune the search space. Encoding of this structural information by means of constraint programming would provide an effective way for such pruning during the search for solution.
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