AN ALGORITHM FOR PROBABILISTIC PLANNING

We define the probabilistic planning problem in terms of a probability distribution over initial world states, a boolean combination of propositions representing the goal, a probability threshold, and actions whose effects depend on the execution-time state of the world and on random chance. Adopting a probabilistic model complicates the definition of plan success: instead of demanding a plan that provably achieves the goal, we seek plans whose probability of success exceeds the threshold. In this paper, we present BURIDAN, an implemented least-commitment planner that solves problems of this form. We prove that the algorithm is both sound and complete. We then explore BURIDAN'S efficiency by contrasting four algorithms for plan evaluation, using a combination of analytic methods and empirical experiments. We also describe the interplay between generating plans and evaluating them, and discuss the role of search control in probabilistic planning.