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2004

Conformant Planning via Heuristic Forward Search: A New Approach

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Conformant Planning via Heuristic Forward Search: A New Approach
Conformant planning is the task of generating plans given uncertainty about the initial state and action effects, and without any sensing capabilities during plan execution. The plan should be successful regardless of which particular initial world we start from. It is well known that conformant planning can be transformed into a search problem in belief space, the space whose elements are sets of possible worlds. We introduce a new representation of that search space, replacing the need to store sets of possible worlds with a need to reason about the effects of action sequences. The reasoning is done by implication tests on propositional formulas in conjunctive normal form (CNF) that capture the action sequence semantics. Based on this approach, we extend the classical heuristic forward-search planning system FF to the conformant setting. The key to this extension is an appropriate extension of the relaxation that underlies FF's heuristic function, and of FF's machinery for...
Ronen I. Brafman, Jörg Hoffmann
Added 30 Oct 2010
Updated 30 Oct 2010
Type Conference
Year 2004
Where AIPS
Authors Ronen I. Brafman, Jörg Hoffmann
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