Classically HTN planning define 3 kinds of trajectory decomposition constraints: before, after and between.
These three constraints are sufficient to express the preconditions at start at end and overall of a durative method.
In PDDL3.1 [other constraints] (https://www.cs.yale.edu/homes/dvm/papers/pddl-ipc5.pdf) exist see for details. Which constraints must be considered in HDDL2.1 ?
Classically HTN planning define 3 kinds of trajectory decomposition constraints: before, after and between.
These three constraints are sufficient to express the preconditions at start at end and overall of a durative method.
In PDDL3.1 [other constraints] (https://www.cs.yale.edu/homes/dvm/papers/pddl-ipc5.pdf) exist see for details. Which constraints must be considered in HDDL2.1 ?