Multiagent Task Planning Based on Distributed Resource Scheduling under Command and Control Structure

Algorithm 1

HTN algorithm Pseudo Code.

(1)	HTN
(2)	if can be shown to have no solution
(3)	Then return failure
(4)	else if is primitive then
(5)	if has a solution then
(6)	nondeterministically let be any such solution
(7)	return
(8)	else return failure
(9)	else
(10)	choose a nonprimitive task node
(11)
(12)	if then
(13)	nondeterministically choose any
(14)	an mgu for and that renames all variables of
(15)
(16)	⟵ apply-critic
(17)	return HTN
(18)	else return failure