On Total-Order HTN Plan Verification with Method Preconditions – An Extension of the CYK Parsing Algorithm

In this paper, we consider the plan verification problem for totally ordered (TO) HTN planning. The is proved to be solvable in polynomial time by recognizing its connection membership decision context-free grammars. Currently, most approaches do not have special treatments TO configuration, and only one features such an optimization still relies on exhaustive search. Hence, will develop a new TOHTN approach paper extending standard CYK parsing algorithm which acts as best procedure general.