This disclosure relates generally to robotic network, and more particularly to a method and system for hierarchical decomposition of tasks and task planning in a robotic network. While a centralized system is used for action planning in a robotic network, any communication network issues can adversely affect working of the robotic network. Further, hardcoding one or more specific tasks to a robot restricts use of the robots irrespective of capabilities of the robots. The robotic agent decomposes a goal assigned to the robot to multiple sub-goals, and for each sub-goal, identifies one or more tasks to be executed/performed by the robot. An action plan is generated based on all such tasks identified, and the robot executes the action plan, in response to the goal assigned to the robot.