Hartanto, Ronny2018-01-082018-01-0820112011https://dl.gi.de/handle/20.500.12116/11195Action planning has been used in the field of robotics for solving long-running tasks. However, the definition of a planning problem for a complex, real-world robot is not trivial. The planning process could become intractable as its search spaces become large. The dissertation presented in this article introduces a novel approach which amalgamates Description Logic (dl) reasoning with Hierarchical Task Network (htn) planning. The planning domain description as well as fundamental htn planning concepts are represented in dl and can therefore be subject to dl reasoning; from these representations, concise planning problems are generated for htn planning.DL reasoningHTN planningHybrid deliberative layerPlan-based robot controlText/Journal Article1610-1987