mGPT: A Probabilistic Planner Based on Heuristic Search
  We describe the version of the GPT planner used in the probabilistic track of
the 4th International Planning Competition (IPC-4). This version, called mGPT,
solves Markov Decision Processes specified in the PPDDL language by extracting
and using different classes of lower bounds along with various heuristic-search
algorithms. The lower bounds are extracted from deterministic relaxations where
the alternative probabilistic effects of an action are mapped into different,
independent, deterministic actions. The heuristic-search algorithms use these
lower bounds for focusing the updates and delivering a consistent value
function over all states reachable from the initial state and the greedy
policy.
