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Hierarchical Task Network (HTN) planning is a practical and efficientapproach to planning when the 'standard operating procedures' for a domain areavailable. Like Belief-Desire-Intention (BDI) agent reasoning, HTN planningperforms hierarchical and context-based refinement of goals into subgoals andbasic actions. However, while HTN planners 'lookahead' over the consequences ofchoosing one refinement over another, BDI agents interleave refinement withacting. There has been renewed interest in making HTN planners behave more likeBDI agent systems, e.g. to have a unified representation for acting andplanning. However, past work on the subject has remained informal orimplementation-focused. This paper is a formal account of 'HTN acting', whichsupports interleaved deliberation, acting, and failure recovery. We use thesyntax of the most general HTN planning formalism and build on its coresemantics, and we provide an algorithm which combines our new formalism withthe processing of exogenous events. We also study the properties of HTN actingand its relation to HTN planning.

Addendum to "HTN Acting: A Formalism and an Algorithm"