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Contingent Planning as AND/OR Forward Search with Disjunctive Representation

Contingent Planning as AND/OR Forward Search with Disjunctive Representation

This video was recorded at 21st International Conference on Automated Planning and Scheduling. This paper introduces a highly competitive contingent planner, that uses the novel idea of encoding belief states as disjunctive normal form formulae (To et al. 2009), for the search for solutions in the belief state space. In (To et al. 2009), a complete transition function for computing successor belief states in the presence of incomplete information has been defined. This work extends the function to handle non-deterministic and sensing actions in the AND/OR forward search paradigm for contingent planning solutions. The function allows one, under reasonable assumptions, to compute successor belief states efficiently, i.e., in polynomial time. The paper also presents a novel variant of an... Show More
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