Conformant planning via symbolic model checking and heuristic search

摘要

In this paper we tackle the problem of Conformant Planning: find a sequence of actions that guarantees goal achievement regardless of an uncertain initial condition and of nondeterministic action effects. Our approach, set in the framework of search in the belief space, is based on two main intuitions. First, symbolic model checking techniques, Binary Decision Diagrams in particular, can be used to represent and expand the search space, and to provide an efficient computational platform. Second, driving the search solely with reachability information is not effective, and the notion of knowledge has to be taken explicitly into account.