Domain-Dependent Knowledge in Answer Set Planning
  In this paper we consider three different kinds of domain-dependent control
knowledge (temporal, procedural and HTN-based) that are useful in planning. Our
approach is declarative and relies on the language of logic programming with
answer set semantics (AnsProlog*). AnsProlog* is designed to plan without
control knowledge. We show how temporal, procedural and HTN-based control
knowledge can be incorporated into AnsProlog* by the modular addition of a
small number of domain-dependent rules, without the need to modify the planner.
We formally prove the correctness of our planner, both in the absence and
presence of the control knowledge. Finally, we perform some initial
experimentation that demonstrates the potential reduction in planning time that
can be achieved when procedural domain knowledge is used to solve planning
problems with large plan length.
