Cost Sensitive Reachability Heuristics for Handling State Uncertainty

While POMDPs provide a general platform for non-deterministic conditional planning under a variety of quality metrics they have limited scalability. On the other hand, non-deterministic conditional planners scale very well, but many lack the ability to optimize plan quality metrics. We present a novel generalization of planning graph based heuristics that helps conditional planners both scale and generate high quality plans when using actions with non-uniform costs. We make empirical comparisons with two state of the art planners to show the benefit of our techniques.

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