CHIMP_MDP (pCHIMP)

Thiswork attempts to extend a hybrid Hierarchical Task Network planner to perform in a stochastic environment. Our approach presents Markov Decision Processes (MDPs) as a solution to extend the deterministic Conflict-driven Hierarchical Meta-CSP Planner (CHIMP) domain into probabilistic Hierarchical Task Networks (HTNs) one and focus planning effort on the probabilities of generating plans in the domain.