404 Chapter 17 Planning Based on Model Checking
implemented by using symbolic techniques taking advantage of ordered
binary decision diagrams (BDDs; see Appendix C), which allow for the
compact representation and effective manipulation of propositional formulas.
The main advantage of planning by model checking is the ability to plan under
uncertainty in a practical way. Nondeterminism leads to the need to deal with dif-
ferent action outcomes, i.e., different possible transitions. Partial observability leads
to the need to deal with observations that correspond to more than a single state.
Planning by model checking searches sets of states and sets of transitions at once,
rather than single states. These sets are represented and manipulated symbolically: ...