planning with uncertainty umbrella decisionvariable("umbrella"["take""leave"]{forecast}position=( , ) p_weather prob(weather[][ ]p_forecast prob(forecast[weather][[ ][ ]]umb_utility utilitytable([weatherumbrella][[ ][ ]]position=( , ) umbrella_dn decisionnetwork("umbrella decision network"{weatherforecastumbrella}{p_weatherp_forecastumb_utility}the following is variant with the umbrella decision having parentsnothing else has changed this is interesting because one of the parents is not neededif the agent knows the weatherit can ignore the forecast decnnetworks py -(continued umbrella decisionvariable("umbrella"["take""leave"]{forecastweather}position=( , )umb_utility utilitytable([weatherumbrella ][[ ][ ]]position=( , )umbrella_dn decisionnetwork("umbrella decision network (extra arc)"{weatherforecastumbrella }{p_weatherp_forecastumb_utility }fire decision network the fire decision network of figure (showing the result of fire_dn show()is represented asdecnnetworks py -(continued boolean [falsetruealarm variable("alarm"booleanposition=( , )fire variable("fire"booleanposition=( , )leaving variable("leaving"booleanposition=( , )report variable("report"booleanposition=( , )smoke variable("smoke"booleanposition=( , )tamper variable("tamper"booleanposition=( , ) see_sm variable("see_sm"booleanposition=( , chk_sm decisionvariable("chk_sm"boolean{report}position=( )call decisionvariable("call"boolean,{see_sm,chk_sm,report}position=( , ) f_ta prob(tamper,[],[ , ]f_fi prob(fire,[],[ , ]f_sm prob(smoke,[fire],[[ , ],[ , ]]f_al prob(alarm,[fire,tamper],[[[ ][ ]][[ ][ ]]]version june