Constructing Conditional Plans by a Theorem-Prover
  The research on conditional planning rejects the assumptions that there is no
uncertainty or incompleteness of knowledge with respect to the state and
changes of the system the plans operate on. Without these assumptions the
sequences of operations that achieve the goals depend on the initial state and
the outcomes of nondeterministic changes in the system. This setting raises the
questions of how to represent the plans and how to perform plan search. The
answers are quite different from those in the simpler classical framework. In
this paper, we approach conditional planning from a new viewpoint that is
motivated by the use of satisfiability algorithms in classical planning.
Translating conditional planning to formulae in the propositional logic is not
feasible because of inherent computational limitations. Instead, we translate
conditional planning to quantified Boolean formulae. We discuss three
formalizations of conditional planning as quantified Boolean formulae, and
present experimental results obtained with a theorem-prover.
