Planning with Sensing Actions and Incomplete Information Using Logic Programming

We present a logic programming based conditional planner that is capable of generating both conditional plans and conformant plans in the presence of sensing actions and incomplete information. We prove the correctness of our implementation and show that our planner is complete with respect to the 0-approximation of sensing actions and the class of conditional plans considered in this paper. Finally, we present preliminary experimental results and discuss further enhancements to the program.

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