Towards Numerical TOHTN Planning with SMT-based HTN-SAT Encoding
Gaspard Quenard, Takudzwa Togarepi, Damien Pellier, Humbert Fiorino
Abstract
While HTN planning has received significant attention in recent years, support for numerical reasoning remains very limited. In this paper, we investigate numerical Totally-Ordered HTN (TOHTN) planning and show how standard SAT-based encodings can be naturally extended with SMT to handle numeric fluents. In addition, we introduce a benchmark suite for numerical TOHTN planning, providing a first common basis for evaluation in this setting. Experimental results show that this simple encoding already constitutes a competitive baseline. This work opens the way to more expressive approaches to HTN planning.