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

Contents

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

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)

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.

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

This software has been developed in the following projects:

ARCAS Project

SAPHARI Project

MaRDi project

ROBOERGOSUM project

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

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

Current maintainer(s):