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HATP: Hierarchical Agent-based Task Planner

Under construction !

HATP is an open-source HTN planner developed by LAAS

The documentation: HATP-User-Documentation.pdf (install part is deprecated, refer to this page for updated version).

Intro: to come

To know the compatibility of HATP with your system please see: Compatibility grid.

This grid only represents the state of the robotpkg packages, not the Git version ... may be different.

1. Most important pages

HATP/install

Set of instruction on how to install HATP's core

HATP/run

Page presenting a quick setup guide and basic usage

HATP/doc

Presents some information on domain writing

HATP/dev

Page aimed at developers that want to go further in the details

2. HATP's main components

HATP is composed of several parts:

HATP/hatponboard

The core of the planner (actual planning process)

HATP/hatpconsole

The plan displayer, allows to visualise the plan in different format

HATP/hatptester

The plan-request sender, sends planning requests to the core

HATP/msgconnector

The middleware used by all the components to communicate (deprecated, now relies on ROS)

HATP/libhatp

A C++ to handle plan found by HATP (deprecated, now integrated in ROS messages)

3. Overview of HTN task planning

4. HATP, more than an HTN planner

5. References

The documentation: HATP-User-Documentation.pdf (install part is deprecated, refer to this page to updated version).

To get more information on the HATP domains' language, see HATP/doc.

To get a insight on HATP's inner mechanic please look at HATP/dev.

5.1. List of publications

HATP: An HTN Planner for Robotics, PlanRob 2014, R. Lallement, L. de Silva and R. Alami

On Human-aware Task and Motion Planning Abilities for a Teammate Robot, RSS HRCIM 2014, R. Alami, M. Gharbi, B. Vadant, R. Lallement and A. Suarez

6. Acknowledgement

This software has been developed in the following projects:

ARCAS logo
ARCAS Project

SAPHARI logo
SAPHARI Project

ANR logo
MaRDi project

ANR logo
ROBOERGOSUM project

7. Troubleshooting

If facing problem contact a maintainer (addresses bellow), or go to the bug tracker: https://git.openrobots.org/projects/hatp.

8. License and Maintainer

HATP is distributed under 2-clause BSD license. (See here for details.)

Current maintainer(s):

OpenrobotsWiki: HATP (last edited 2016-07-28 13:24:48 by rlalleme)