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Many planning techniques have been developed to allow autonomous systems toact and make decisions based on their perceptions of the environment. Amongthese techniques, HTN ({\it Hierarchical Task Network}) planning is one of themost used in practice. Unlike classical approaches of planning. HTN operates bydecomposing task into sub-tasks until each of these sub-tasks can be achievedan action. This hierarchical representation provide a richer representation ofplanning problems and allows to better guide the plan search and provides moreknowledge to the underlying algorithms. In this paper, we propose a newapproach of HTN planning in which, as in conventional planning, we instantiateall planning operators before starting the search process. This approach hasproven its effectiveness in classical planning and is necessary for thedevelopment of effective heuristics and encoding planning problems in otherformalism such as CSP or SAT. The instantiation is actually used by most modernplanners but has never been applied in an HTN based planning framework. Wepresent in this article a generic instantiation algorithm which implements manysimplification techniques to reduce the process complexity inspired from thoseused in classical planning. Finally we present some results obtained from anexperimentation on a range of problems used in the international planningcompetitions with a modified version of SHOP planner using fully instantiatedproblems.

Une approche totalement instanci\'ee pour la planification HTN