On Semantics of Hierarchical Planning Domain Models with Decomposition Constraints and Empty Methods

There are multiple formalisms describing hierarchical planning domain models, however many of them do not show semantics of some features such as empty decomposition methods and extensive constraints. In this short paper we describe the semantics of a hierarchical domain model with these extensive constraints and show how empty decomposition methods would work within it. We also compare this model with other models and present some transformations of model properties.