HTN Planning as a Coordination Layer for Multi-Server MCP Tool Orchestration

arXiv:2609.33731 · cs.AI · Submitted 2026-09-27 · Read on arXiv

cs.AI

Submitted: 2026-09-27

Updated: 2026-09-27

Code: https://github.com/PCfVW/hplan26-artifact

Terminology

• Model Context Protocol — 3× in this paper
• Hierarchical Task Network — 2× in this paper
• International Conference on Automated Planning and Scheduling — 2× in this paper
• International Conference on Machine Learning — 2× in this paper
• Abstraction — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Model Context Protocol (MCP) — 1× in this paper · explained in 8 episodes
• Multi-Agent System — 1× in this paper · explained in 6 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• From Tool Orchestration to Code Execution: A Study of MCP Design Choices
• Understanding the planning of LLM agents: A survey
• LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
• Towards a General Framework for HTN Modeling with LLMs
• ReWOO: Decoupling Reasoning from Observations for Efficient Augmented Language Models

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