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Both search-based and translation-based planning systems usually operate on grounded representations of the problem. Planning models, however, are commonly defined using lifted description languages. Thus, planning systems usually generate a grounded representation of the lifted model as a preprocessing step. For HTN planning models, only one method to ground lifted models has been published so far. In this paper we present a new approach for grounding HTN planning problems that produces smaller groundings in a shorter timespan than the previously published method.

On Succinct Groundings of HTN Planning Problems