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The development of ambient intelligence (AmI) applications that effectively adapt to the needs of the users and environments requires, among other things, the presence of planning mechanisms for goal-oriented behavior. Planning is intended as the ability of an AmI system to build a course of actions that, when carried out by the devices in the environment, achieve a given goal. The problem of planning in AmI has not yet been adequately explored in literature. We propose a planning system for AmI applications, based on the hierarchical task network (HTN) approach and called distributed hierarchical task network (D- HTN), able to find courses of actions to address given goals. The plans produced by D-HTN are flexibly tailored to exploit the capabilities of the devices currently available in the environment in the best way. We discuss both the architecture and the implementation of D-HTN. Moreover, we present some of the experimental results that validated the proposed planner in a realistic application scenario in which an AmI system monitors and answers the needs of a diabetic patient.