A Hybrid Approach to Planning and Execution in Dynamic Environments Through Hierarchical Task Networks and Behavior Trees

Abstract

Intelligent autonomous agents that are acting in dynamic environmentsin real-time are often required to follow long-termstrategies while also remaining reactive and being able to actdeliberately. In order to create intelligent behaviors for videogame characters, there are two common approaches – plannersare used for long-term strategical planning, whereas BehaviorTrees allow for reactive acting. Although both methodologieshave their advantages, when used on their own, theyfail to fully achieve both requirements described above. Inthis work, we propose a hybrid approach combining a HierarchicalTask Network planner for high-level planning whiledelegating low-level decision making and acting to BehaviorTrees. Furthermore, we compare this approach with a pureplanner in a multi-agent environment.