17.4 Planning under Partial Observability 425
17.4 Planning under Partial Observability
In this section we address the problem of planning under partial observability. We
restrict the discussion to the case of reachability goals and in particular to strong
solutions, i.e., solutions guaranteed to reach a given set of states (see Section 17.2),
in spite of nondeterminism and in spite of partial observability.
17.4.1 Domains, Plans, and Planning Problems
We consider a nondeterministic state-transition system = (S, A, γ ), where S is
the set of states, A is the set of actions, and γ is the state-transition function
(they are the same as in Section 17.2.1). Partial observability can be formalized
with a set of observations that represent the part of