2026
Symmetries and Other Variations of “End-Recursive” HTN Problems: Mapping the Border Between Decidable and Undecidable Restrictions
AAAI 2026technical
In this paper, we investigate the complexity of determining if various restricted forms of hierarchical task network (HTN) planning have a plan. We perform a systematic analysis of new restrictions formed by applying symmetries and relaxations to two existing restrictions called regularity and tail-