On planning while Executing in stationary environments

Abstract. The interleaving of planning with execution is a basic approach to planning with incomplete information. This paper investigates the use of this approach in stationary environments. First, a computational framework where this approach can be investigated is defined. It is then shown how the interleaving of planning with execution can be used for reducing planning with incomplete information to planning with complete information and constraint satisfaction. In addition, a restriction on the model is shown where this reduction yields a polynomial procedure for planning with incomplete information. Finally, belief-based conditional planning is discussed; an approach which bridges part of the gap between planning while executing and general conditional planning.

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