# The HATP hierarchical planner: Formalisation and an initial study of its usability and practicality

> Research article (2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015) · cited 27× · AI/ML

**Wikidata**: [openalex:W2211182759](https://www.wikidata.org/wiki/openalex:W2211182759)  
**Source**: https://4ort.xyz/entity/the-hatp-hierarchical-planner-formalisation-and-an-initial-study-of-its-usability-and-practicality