A Comparison of BDI Based Real-Time Reasoning and HTN Based Planning

Abstract

Abstract. The Belief-Desire-Intention (BDI) model of agency is an architecture based on Bratman's theory of practical reasoning. Hierarchical Task Network (HTN) decomposition on the other hand is a planning technique which has its roots in classical planning systems such as STRIPS. Despite being used for different purposes, HTN and BDI systems appear to have a lot of similarities in the problem solving approaches they adopt. This paper presents these similarities. A systematic method for mapping between the two systems is developed, and experimental results for different kinds of environments are presented.

BDI Logics for BDI Architectures: Old Problems, New Perspectives

“…However and as we have seen, the literature on BDI logics and BDI architectures basically remain silent on this aspect. As far as we know, the only exceptions are the work of Padgham et al [23,50] and perhaps the work of Hunsberberger and Ortiz [31].…”

“…Notable exceptions are [23,50] which import ideas from HTN planning and [24] which describes their concrete implementation framework.…”

“…In [23], de Silva and Padgham show through experiments that BDI systems are more suitable when facing highly dynamic environments, while HTN solutions are more efficient in a static context. In [50], Sardina et al integrate a BDI agent system with an HTN offline planner as a ''lookahead'' component and develop a BDI agent language CANPLAN.…”

A BDI agent programming language with failure handling, declarative goals, and planning

“…Considering the many similarities between BDI programming languages and Hierarchical Task Network (HTN) planning [19,24,71], we formally define how HTN planners can be integrated into a BDI architecture. Specifically, we show that the HTN process of systematically substituting higher-level tasks until concrete actions are derived is analogous to the way in which a BDI-based interpreter pushes new plans onto an intention structure, replacing an achievement goal with an instantiated plan.…”

On the Testability of BDI Agent Systems

“…There are similarities between Hierarchical Task Network (HTN) planning (Erol, Hendler, & Nau, 1994) and BDI execution (de Silva & Padgham, 2004): both use a hierarchical representation with goals ("non-primitive tasks" in HTN terminology), plans ("decomposition methods") and goal-plan trees ("task networks"). The complexity of HTN planning has been explored.…”