Towards Combining HTN Planning and Geometric Task Planning
  In this paper we present an interface between a symbolic planner and a
geometric task planner, which is different to a standard trajectory planner in
that the former is able to perform geometric reasoning on abstract
entities---tasks. We believe that this approach facilitates a more principled
interface to symbolic planning, while also leaving more room for the geometric
planner to make independent decisions. We show how the two planners could be
interfaced, and how their planning and backtracking could be interleaved. We
also provide insights for a methodology for using the combined system, and
experimental results to use as a benchmark with future extensions to both the
combined system, as well as to the geometric task planner.
