Symbolic Boolean manipulation with ordered binary-decision diagrams
ACM Computing Surveys (CSUR)
Acting optimally in partially observable stochastic domains
AAAI'94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 2)
Planning control rules for reactive agents
Artificial Intelligence
Heuristic search in cyclic AND/OR graphs
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Automatic OBDD-based generation of universal plans in non-deterministic domains
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Extending Graphplan to handle uncertainty and sensing actions
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Symbolic Model Checking
Improvements to the Evaluation of Quantified Boolean Formulae
IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
Value-Directed Belief State Approximation for POMDPs
UAI '00 Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence
Gridworlds as Testbeds for Planning with Incomplete Information
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Conformant planning via symbolic model checking
Journal of Artificial Intelligence Research
Planning for contingencies: a decision-based approach
Journal of Artificial Intelligence Research
The computational complexity of probabilistic planning
Journal of Artificial Intelligence Research
Constructing conditional plans by a theorem-prover
Journal of Artificial Intelligence Research
Heuristic search + symbolic model checking = efficient conformant planning
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Planning as model checking for extended goals in non-deterministic domains
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Perspectives on artificial intelligence planning
Eighteenth national conference on Artificial intelligence
Weak, strong, and strong cyclic planning via symbolic model checking
Artificial Intelligence - special issue on planning with uncertainty and incomplete information
On the Semantics of Deliberation in Indigolog—from Theory to Implementation
Annals of Mathematics and Artificial Intelligence
Conformant planning via symbolic model checking and heuristic search
Artificial Intelligence
Strong planning under partial observability
Artificial Intelligence
Continual planning and acting in dynamic multiagent environments
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
A nondeterministic model for controlling the dramatization of interactive stories
SRMC '08 Proceedings of the 2nd ACM international workshop on Story representation, mechanism and context
Planning and Interaction Levels for TV Storytelling
ICIDS '08 Proceedings of the 1st Joint International Conference on Interactive Digital Storytelling: Interactive Storytelling
Task decomposition on abstract states, for planning under nondeterminism
Artificial Intelligence
Creating automated plans for Semantic Web applications through planning as model checking
Expert Systems with Applications: An International Journal
Synthesis and Composition of Web Services
Formal Methods for Web Services
International Journal of Artificial Intelligence and Soft Computing
Weighted A∗ search -- unifying view and application
Artificial Intelligence
Learning partially observable action models: efficient algorithms
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
State agnostic planning graphs and the application to belief-space planning
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Taming numbers and durations in the model checking integrated planning system
Journal of Artificial Intelligence Research
Probabilistic hybrid action models for predicting concurrent percept-driven robot behavior
Journal of Artificial Intelligence Research
Planning graph heuristics for belief space search
Journal of Artificial Intelligence Research
Observation reduction for strong plans
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Action representation and partially observable planning using epistemic logic
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Heuristic search + symbolic model checking = efficient conformant planning
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Planning as model checking for extended goals in non-deterministic domains
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Efficient belief-state AND-OR search, with application to Kriegspiel
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Conditional planning in the discrete belief space
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Strong planning under partial observability
Artificial Intelligence
Structured plans and observation reduction for plans with contexts
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Inference and Learning in Planning (Extended Abstract)
DS '09 Proceedings of the 12th International Conference on Discovery Science
Automated composition of Web services via planning in asynchronous domains
Artificial Intelligence
Algorithms for memory hierarchies: advanced lectures
Algorithms for memory hierarchies: advanced lectures
Active learning of plans for safety and reachability goals with partial observability
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Constraint-Based Controller Synthesis in Non-Deterministic and Partially Observable Domains
Proceedings of the 2010 conference on ECAI 2010: 19th European Conference on Artificial Intelligence
State agnostic planning graphs: deterministic, non-deterministic, and probabilistic planning
Artificial Intelligence
Planning with incomplete information
MoChArt'10 Proceedings of the 6th international conference on Model checking and artificial intelligence
Constraint programming for controller synthesis
CP'11 Proceedings of the 17th international conference on Principles and practice of constraint programming
Beyond QCSP for solving control problems
CP'11 Proceedings of the 17th international conference on Principles and practice of constraint programming
Planning under continuous time and resource uncertainty: a challenge for AI
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Optimal limited contingency planning
UAI'03 Proceedings of the Nineteenth conference on Uncertainty in Artificial Intelligence
Unifying nondeterministic and probabilistic planning through imprecise markov decision processes
IBERAMIA-SBIA'06 Proceedings of the 2nd international joint conference, and Proceedings of the 10th Ibero-American Conference on AI 18th Brazilian conference on Advances in Artificial Intelligence
Planning under uncertainty and its applications
Reasoning, Action and Interaction in AI Theories and Systems
Model-Based diagnosis through OBDD compilation: a complexity analysis
Reasoning, Action and Interaction in AI Theories and Systems
Integrated task and motion planning in belief space
International Journal of Robotics Research
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Planning under partial observability is one of the most significant and challenging planning problems. It has been shown to be hard, both theoretically and experimentally. In this paper, we present a novel approach to the problem of planning under partial observability in non-deterministic domains. We propose an algorithm that searches through a (possibly cyclic) and-or graph induced by the domain. The algorithm generates conditional plans that are guaranteed to achieve the goal despite of the uncertainty in the initial condition, the uncertain effects of actions, and the partial observability of the domain. We implement the algorithm by means of BDD-based, symbolic model checking techniques, in order to tackle in practice the exponential blow up of the search space. We show experimentally that our approach is practical by evaluating the planner with a set of problems taken from the literature and comparing it with other state of the art planners for partially observable domains.