Summary: Appears in AAAI'02 workshop on Cognitive Robotics (CogRob'02). 1
Planning with Nondeterministic Actions and Sensing
Eyal Amir
Computer Science Division
University of California at Berkeley
eyal@cs.berkeley.edu
Abstract
Many planning problems involve nondeterministic actions ­
actions whose effects are not completely determined by the
state of the world before the action is executed. In this pa­
per we consider the computational complexity of planning in
domains where such actions are available. We give a for­
mal model of nondeterministic actions and sensing, together
with an action language for specifying planning domains.
Then, we examine the cases of complete observability, par­
tial observability and no observability, assuming that sensing
is done automatically or needs to be done explicitly. We re­
strict our attention to plans of tractable plan­size or depth.
We show that planning with nondeterministic actions for
polynomially represented plans has computational complex­

Source: Amir, Eyal - Department of Computer Science, University of Illinois at Urbana-Champaign

Collections: Computer Technologies and Information Sciences