TY - CONF T1 - A hierarchical task-network planner based on symbolic model checking Y1 - 2005 A1 - Kuter,U. A1 - Nau, Dana S. A1 - Pistore,M. A1 - Traverso,P. AB - Although several approaches have been developed for planning in nondeterministic domains, solving large planning problems is still quite difficult. In this work, we present a novel algorithm, called YoYo, for planning in nondeterministic domains under the assumption of full observability. This algorithm enables us to combine the power of search-control strategies as in Planning with Hierarchical Task Networks (HTNs) with tech- niques from the Planning via Symbolic Model-Checking (SMC). Our experimental evaluation confirms the po- tentialities of our approach, demonstrating that it com- bines the advantages of these paradigms. UR - https://www.aaai.org/Papers/ICAPS/2005/ICAPS05-031.pdf ER -