Approximately Optimal Monitoring of Plan Preconditions
  Monitoring plan preconditions can allow for replanning when a precondition
fails, generally far in advance of the point in the plan where the precondition
is relevant. However, monitoring is generally costly, and some precondition
failures have a very small impact on plan quality. We formulate a model for
optimal precondition monitoring, using partially-observable Markov decisions
processes, and describe methods for solving this model efficitively, though
approximately. Specifically, we show that the single-precondition monitoring
problem is generally tractable, and the multiple-precondition monitoring
policies can be efficitively approximated using single-precondition soultions.
