1.3 Domain-Independent Planning 3
from their difference. If the desired state is too far apart from the current one (e.g.,
for driving the furnace to a shutdown state), then a sequence of control actions that
meets some constraints and criteria must be planned.
Perception planning is concerned with plans involving sensing actions for gath-
ering information. It arises in tasks such as modeling environments or objects,
identifying objects, localizing through sensing a mobile system, or more generally
identifying the current state of the environment. An example of these tasks is the
design of a precise virtual model of an urban scene from a set of images. Perception
planning addresses questions such as which information is needed and when it is
needed, ...