On Planning with Preferences in HTN
  In this paper, we address the problem of generating preferred plans by
combining the procedural control knowledge specified by Hierarchical Task
Networks (HTNs) with rich qualitative user preferences. The outcome of our work
is a language for specifyin user preferences, tailored to HTN planning,
together with a provably optimal preference-based planner, HTNPLAN, that is
implemented as an extension of SHOP2. To compute preferred plans, we propose an
approach based on forward-chaining heuristic search. Our heuristic uses an
admissible evaluation function measuring the satisfaction of preferences over
partial plans. Our empirical evaluation demonstrates the effectiveness of our
HTNPLAN heuristics. We prove our approach sound and optimal with respect to the
plans it generates by appealing to a situation calculus semantics of our
preference language and of HTN planning. While our implementation builds on
SHOP2, the language and techniques proposed here are relevant to a broad range
of HTN planners.
