Part
V
Planning under
Uncertainty
Classical planning relies on several restrictive assumptions (see the conceptual
model described in Chapter 1), among which are the following.
1. Determinism: Actions have deterministic effects, i.e., each action, if applicable
in a state, brings to a single new state.
2. Full observability: The controller has complete knowledge about the current
state of the system, i.e., observations result in a single state, the current state
of the system.
3. Reachability goals: Goals are sets of states, i.e., the objective is to build a plan
that leads to one of the goal states.
As a consequence, plans in classical planning are sequences of actions, and feedback
provided by observations is not necessary. In this part of the book,