Abstract
Shop is a hierarchical task network planning algorithm that is provably sound and complete across a large class of planning domains. It plans for tasks in the same order that they will later be executed, and thus, it knows the current world state at each step of the planning process. shop takes advantage of this knowledge by allowing a high degree of expressive power in its knowledge bases. For example, shop's preconditions can include logical inferences, complex numeric computations, and calls to external programs. shop is powerful enough that an implementation of it is being used as an embedded planner in the Naval Research Laboratory's hicap system.
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